This class facilitates loading planning plugins and planning request adapted plugins. and allows calling planning_interface::PlanningContext::solve() from a loaded planning plugin and the planning_request_adapter::PlanningRequestAdapter plugins, in the specified order. More...

#include <planning_pipeline.h>

Public Member Functions
void	checkSolutionPaths (bool flag)
	Pass a flag telling the pipeline whether or not to re-check the solution paths reported by the planner. This is true by default. More...

void	displayComputedMotionPlans (bool flag)
	Pass a flag telling the pipeline whether or not to publish the computed motion plans on DISPLAY_PATH_TOPIC. Default is true. More...

bool	generatePlan (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res) const
	Call the motion planner plugin and the sequence of planning request adapters (if any). More...

bool	generatePlan (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res, std::vector< std::size_t > &adapter_added_state_index) const
	Call the motion planner plugin and the sequence of planning request adapters (if any). More...

const std::vector< std::string > &	getAdapterPluginNames () const
	Get the names of the planning request adapter plugins used. More...

bool	getCheckSolutionPaths () const
	Get the flag set by checkSolutionPaths() More...

bool	getDisplayComputedMotionPlans () const
	Get the flag set by displayComputedMotionPlans() More...

const planning_interface::PlannerManagerPtr &	getPlannerManager ()
	Get the planner manager for the loaded planning plugin. More...

const std::string &	getPlannerPluginName () const
	Get the name of the planning plugin used. More...

bool	getPublishReceivedRequests () const
	Get the flag set by publishReceivedRequests() More...

const robot_model::RobotModelConstPtr &	getRobotModel () const
	Get the robot model that this pipeline is using. More...

	PlanningPipeline (const robot_model::RobotModelConstPtr &model, const ros::NodeHandle &nh=ros::NodeHandle("~"), const std::string &planning_plugin_param_name="planning_plugin", const std::string &adapter_plugins_param_name="request_adapters")
	Given a robot model (model), a node handle (nh), initialize the planning pipeline. More...

	PlanningPipeline (const robot_model::RobotModelConstPtr &model, const ros::NodeHandle &nh, const std::string &planning_plugin_name, const std::vector< std::string > &adapter_plugin_names)
	Given a robot model (model), a node handle (nh), initialize the planning pipeline. More...

void	publishReceivedRequests (bool flag)
	Pass a flag telling the pipeline whether or not to publish the received motion planning requests on MOTION_PLAN_REQUEST_TOPIC. Default is false. More...

void	terminate () const
	Request termination, if a generatePlan() function is currently computing plans. More...

Static Public Attributes
static const std::string	DISPLAY_PATH_TOPIC = "display_planned_path"
	When motion plans are computed and they are supposed to be automatically displayed, they are sent to this topic (moveit_msgs::DisplauTrajectory) More...

static const std::string	MOTION_CONTACTS_TOPIC = "display_contacts"
	When contacts are found in the solution path reported by a planner, they can be published as markers on this topic (visualization_msgs::MarkerArray) More...

static const std::string	MOTION_PLAN_REQUEST_TOPIC = "motion_plan_request"
	When motion planning requests are received and they are supposed to be automatically published, they are sent to this topic (moveit_msgs::MotionPlanRequest) More...

Private Member Functions
void	configure ()

Private Attributes
std::unique_ptr< planning_request_adapter::PlanningRequestAdapterChain >	adapter_chain_

std::unique_ptr< pluginlib::ClassLoader< planning_request_adapter::PlanningRequestAdapter > >	adapter_plugin_loader_

std::vector< std::string >	adapter_plugin_names_

bool	check_solution_paths_
	Flag indicating whether the reported plans should be checked once again, by the planning pipeline itself. More...

ros::Publisher	contacts_publisher_

bool	display_computed_motion_plans_
	Flag indicating whether motion plans should be published as a moveit_msgs::DisplayTrajectory. More...

ros::Publisher	display_path_publisher_

robot_model::RobotModelConstPtr	kmodel_

ros::NodeHandle	nh_

planning_interface::PlannerManagerPtr	planner_instance_

std::unique_ptr< pluginlib::ClassLoader< planning_interface::PlannerManager > >	planner_plugin_loader_

std::string	planner_plugin_name_

bool	publish_received_requests_

ros::Publisher	received_request_publisher_

Detailed Description

This class facilitates loading planning plugins and planning request adapted plugins. and allows calling planning_interface::PlanningContext::solve() from a loaded planning plugin and the planning_request_adapter::PlanningRequestAdapter plugins, in the specified order.

Definition at line 56 of file planning_pipeline.h.

Constructor & Destructor Documentation

planning_pipeline::PlanningPipeline::PlanningPipeline	(	const robot_model::RobotModelConstPtr &	model,
		const ros::NodeHandle &	nh = `ros::NodeHandle("~")`,
		const std::string &	planning_plugin_param_name = `"planning_plugin"`,
		const std::string &	adapter_plugins_param_name = `"request_adapters"`
	)

Given a robot model (model), a node handle (nh), initialize the planning pipeline.

Parameters

model	The robot model for which this pipeline is initialized.
nh	The ROS node handle that should be used for reading parameters needed for configuration
planning_plugin_param_name	The name of the ROS parameter under which the name of the planning plugin is specified
adapter_plugins_param_name	The name of the ROS parameter under which the names of the request adapter plugins are specified (plugin names separated by space; order matters)

Definition at line 51 of file planning_pipeline.cpp.

planning_pipeline::PlanningPipeline::PlanningPipeline	(	const robot_model::RobotModelConstPtr &	model,
		const ros::NodeHandle &	nh,
		const std::string &	planning_plugin_name,
		const std::vector< std::string > &	adapter_plugin_names
	)

Given a robot model (model), a node handle (nh), initialize the planning pipeline.

Parameters

model	The robot model for which this pipeline is initialized.
nh	The ROS node handle that should be used for reading parameters needed for configuration
planning_plugin_name	The name of the planning plugin to load
adapter_plugins_names	The names of the planning request adapter plugins to load

Definition at line 73 of file planning_pipeline.cpp.

Member Function Documentation

void planning_pipeline::PlanningPipeline::checkSolutionPaths ( bool flag )

Pass a flag telling the pipeline whether or not to re-check the solution paths reported by the planner. This is true by default.

Definition at line 190 of file planning_pipeline.cpp.

void planning_pipeline::PlanningPipeline::configure ( )

private

Definition at line 81 of file planning_pipeline.cpp.

void planning_pipeline::PlanningPipeline::displayComputedMotionPlans ( bool flag )

Pass a flag telling the pipeline whether or not to publish the computed motion plans on DISPLAY_PATH_TOPIC. Default is true.

Definition at line 172 of file planning_pipeline.cpp.

bool planning_pipeline::PlanningPipeline::generatePlan	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const planning_interface::MotionPlanRequest &	req,
		planning_interface::MotionPlanResponse &	res
	)		const

Call the motion planner plugin and the sequence of planning request adapters (if any).

Parameters

planning_scene	The planning scene where motion planning is to be done
req	The request for motion planning
res	The motion planning response

Definition at line 199 of file planning_pipeline.cpp.

bool planning_pipeline::PlanningPipeline::generatePlan	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const planning_interface::MotionPlanRequest &	req,
		planning_interface::MotionPlanResponse &	res,
		std::vector< std::size_t > &	adapter_added_state_index
	)		const

Call the motion planner plugin and the sequence of planning request adapters (if any).

Parameters

planning_scene	The planning scene where motion planning is to be done
req	The request for motion planning
res	The motion planning response
adapter_added_state_index	Sometimes planning request adapters may add states on the solution path (e.g., add the current state of the robot as prefix, when the robot started to plan only from near that state, as the current state itself appears to touch obstacles). This is helpful because the added states should not be considered invalid in all situations.

Definition at line 207 of file planning_pipeline.cpp.

const std::vector<std::string>& planning_pipeline::PlanningPipeline::getAdapterPluginNames ( ) const

inline

Get the names of the planning request adapter plugins used.

Definition at line 152 of file planning_pipeline.h.

bool planning_pipeline::PlanningPipeline::getCheckSolutionPaths ( ) const

inline

Get the flag set by checkSolutionPaths()

Definition at line 117 of file planning_pipeline.h.

bool planning_pipeline::PlanningPipeline::getDisplayComputedMotionPlans ( ) const

inline

Get the flag set by displayComputedMotionPlans()

Definition at line 105 of file planning_pipeline.h.

const planning_interface::PlannerManagerPtr& planning_pipeline::PlanningPipeline::getPlannerManager ( )

inline

Get the planner manager for the loaded planning plugin.

Definition at line 158 of file planning_pipeline.h.

const std::string& planning_pipeline::PlanningPipeline::getPlannerPluginName ( ) const

inline

Get the name of the planning plugin used.

Definition at line 146 of file planning_pipeline.h.

bool planning_pipeline::PlanningPipeline::getPublishReceivedRequests ( ) const

inline

Get the flag set by publishReceivedRequests()

Definition at line 111 of file planning_pipeline.h.

const robot_model::RobotModelConstPtr& planning_pipeline::PlanningPipeline::getRobotModel ( ) const

inline

Get the robot model that this pipeline is using.

Definition at line 164 of file planning_pipeline.h.

void planning_pipeline::PlanningPipeline::publishReceivedRequests ( bool flag )

Pass a flag telling the pipeline whether or not to publish the received motion planning requests on MOTION_PLAN_REQUEST_TOPIC. Default is false.

Definition at line 181 of file planning_pipeline.cpp.

void planning_pipeline::PlanningPipeline::terminate ( ) const

Request termination, if a generatePlan() function is currently computing plans.

Definition at line 345 of file planning_pipeline.cpp.

Member Data Documentation

std::unique_ptr<planning_request_adapter::PlanningRequestAdapterChain> planning_pipeline::PlanningPipeline::adapter_chain_

private

Definition at line 188 of file planning_pipeline.h.

std::unique_ptr<pluginlib::ClassLoader<planning_request_adapter::PlanningRequestAdapter> > planning_pipeline::PlanningPipeline::adapter_plugin_loader_

private

Definition at line 187 of file planning_pipeline.h.

std::vector<std::string> planning_pipeline::PlanningPipeline::adapter_plugin_names_

private

Definition at line 189 of file planning_pipeline.h.

bool planning_pipeline::PlanningPipeline::check_solution_paths_

private

Flag indicating whether the reported plans should be checked once again, by the planning pipeline itself.

Definition at line 194 of file planning_pipeline.h.

ros::Publisher planning_pipeline::PlanningPipeline::contacts_publisher_

private

Definition at line 195 of file planning_pipeline.h.

bool planning_pipeline::PlanningPipeline::display_computed_motion_plans_

private

Flag indicating whether motion plans should be published as a moveit_msgs::DisplayTrajectory.

Definition at line 175 of file planning_pipeline.h.

ros::Publisher planning_pipeline::PlanningPipeline::display_path_publisher_

private

Definition at line 176 of file planning_pipeline.h.

const std::string planning_pipeline::PlanningPipeline::DISPLAY_PATH_TOPIC = "display_planned_path"

static

When motion plans are computed and they are supposed to be automatically displayed, they are sent to this topic (moveit_msgs::DisplauTrajectory)

Definition at line 61 of file planning_pipeline.h.

robot_model::RobotModelConstPtr planning_pipeline::PlanningPipeline::kmodel_

private

Definition at line 191 of file planning_pipeline.h.

const std::string planning_pipeline::PlanningPipeline::MOTION_CONTACTS_TOPIC = "display_contacts"

static

When contacts are found in the solution path reported by a planner, they can be published as markers on this topic (visualization_msgs::MarkerArray)

Definition at line 69 of file planning_pipeline.h.

const std::string planning_pipeline::PlanningPipeline::MOTION_PLAN_REQUEST_TOPIC = "motion_plan_request"

static

When motion planning requests are received and they are supposed to be automatically published, they are sent to this topic (moveit_msgs::MotionPlanRequest)

Definition at line 65 of file planning_pipeline.h.

ros::NodeHandle planning_pipeline::PlanningPipeline::nh_

private

Definition at line 172 of file planning_pipeline.h.

planning_interface::PlannerManagerPtr planning_pipeline::PlanningPipeline::planner_instance_

private

Definition at line 184 of file planning_pipeline.h.

std::unique_ptr<pluginlib::ClassLoader<planning_interface::PlannerManager> > planning_pipeline::PlanningPipeline::planner_plugin_loader_

private

Definition at line 183 of file planning_pipeline.h.

std::string planning_pipeline::PlanningPipeline::planner_plugin_name_

private

Definition at line 185 of file planning_pipeline.h.

bool planning_pipeline::PlanningPipeline::publish_received_requests_

private

Flag indicating whether received requests should be published just before beginning processing (useful for debugging)

Definition at line 180 of file planning_pipeline.h.

ros::Publisher planning_pipeline::PlanningPipeline::received_request_publisher_

private

Definition at line 181 of file planning_pipeline.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation