#include <planning_component.h>

Classes
struct	MultiPipelinePlanRequestParameters
	Planner parameters provided with the MotionPlanRequest. More...

struct	PlanRequestParameters
	Planner parameters provided with the MotionPlanRequest. More...

class	PlanSolutions

Public Types
using	MoveItErrorCode = moveit::core::MoveItErrorCode

typedef std::function< planning_interface::MotionPlanResponse(std::vector< planning_interface::MotionPlanResponse > const &solutions)>	SolutionCallbackFunction
	A solution callback function type for the parallel planning API of planning component. More...

typedef std::function< bool(PlanSolutions const &solutions, MultiPipelinePlanRequestParameters const &plan_request_parameters)>	StoppingCriterionFunction
	A stopping criterion callback function for the parallel planning API of planning component. More...

Public Member Functions
bool	execute (bool blocking=true)
	Execute the latest computed solution trajectory computed by plan(). By default this function terminates after the execution is complete. The execution can be run in background by setting blocking to false. More...

planning_interface::MotionPlanResponse const &	getLastMotionPlanResponse ()
	Return the last plan solution. More...

const std::vector< std::string >	getNamedTargetStates ()
	Get the names of the named robot states available as targets. More...

std::map< std::string, double >	getNamedTargetStateValues (const std::string &name)
	Get the joint values for targets specified by name. More...

const std::string &	getPlanningGroupName () const
	Get the name of the planning group. More...

moveit::core::RobotStatePtr	getStartState ()
	Get the considered start state if defined, otherwise get the current state. More...

PlanningComponent &	operator= (const PlanningComponent &)=delete

PlanningComponent &	operator= (PlanningComponent &&other)=delete

planning_interface::MotionPlanResponse	plan ()
	Run a plan from start or current state to fulfill the last goal constraints provided by setGoal() using default parameters. More...

planning_interface::MotionPlanResponse	plan (const MultiPipelinePlanRequestParameters &parameters, const SolutionCallbackFunction &solution_selection_callback=&getShortestSolution, const StoppingCriterionFunction &stopping_criterion_callback=StoppingCriterionFunction())
	Run a plan from start or current state to fulfill the last goal constraints provided by setGoal() using the provided PlanRequestParameters. More...

planning_interface::MotionPlanResponse	plan (const PlanRequestParameters &parameters, const bool store_solution=true)
	Run a plan from start or current state to fulfill the last goal constraints provided by setGoal() using the provided PlanRequestParameters. More...

	PlanningComponent (const PlanningComponent &)=delete
	This class owns unique resources (e.g. action clients, threads) and its not very meaningful to copy. Pass by references, move it, or simply create multiple instances where required. More...

	PlanningComponent (const std::string &group_name, const MoveItCppPtr &moveit_cpp)

	PlanningComponent (const std::string &group_name, const ros::NodeHandle &nh)
	Constructor. More...

	PlanningComponent (PlanningComponent &&other)=default

bool	setGoal (const geometry_msgs::PoseStamped &goal_pose, const std::string &link_name)
	Set the goal constraints generated from target pose and robot link. More...

bool	setGoal (const moveit::core::RobotState &goal_state)
	Set the goal constraints generated from a target state. More...

bool	setGoal (const std::string &named_target)
	Set the goal constraints generated from a named target state. More...

bool	setGoal (const std::vector< moveit_msgs::Constraints > &goal_constraints)
	Set the goal constraints used for planning. More...

bool	setPathConstraints (const moveit_msgs::Constraints &path_constraints)
	Set the path constraints used for planning. More...

bool	setStartState (const moveit::core::RobotState &start_state)
	Set the robot state that should be considered as start state for planning. More...

bool	setStartState (const std::string &named_state)
	Set the named robot state that should be considered as start state for planning. More...

void	setStartStateToCurrentState ()
	Set the start state for planning to be the current state of the robot. More...

bool	setTrajectoryConstraints (const moveit_msgs::TrajectoryConstraints &trajectory_constraints)
	Set the trajectory constraints generated from a moveit msg Constraints. More...

void	setWorkspace (double minx, double miny, double minz, double maxx, double maxy, double maxz)
	Specify the workspace bounding box. The box is specified in the planning frame (i.e. relative to the robot root link start position). This is useful when the planning group contains the root joint of the robot – i.e. when planning motion for the robot relative to the world. More...

void	unsetWorkspace ()
	Remove the workspace bounding box from planning. More...

	~PlanningComponent ()
	Destructor. More...

Private Member Functions
void	clearContents ()
	Reset all member variables. More...

Private Attributes
moveit::core::RobotStatePtr	considered_start_state_

std::vector< moveit_msgs::Constraints >	current_goal_constraints_

moveit_msgs::Constraints	current_path_constraints_

moveit_msgs::TrajectoryConstraints	current_trajectory_constraints_

const std::string	group_name_

const moveit::core::JointModelGroup *	joint_model_group_

planning_interface::MotionPlanResponse	last_plan_solution_

MoveItCppPtr	moveit_cpp_

ros::NodeHandle	nh_

PlanRequestParameters	plan_request_parameters_

moveit_msgs::WorkspaceParameters	workspace_parameters_

bool	workspace_parameters_set_ = false

Detailed Description

Definition at line 87 of file planning_component.h.

Member Typedef Documentation

◆ MoveItErrorCode

using moveit_cpp::PlanningComponent::MoveItErrorCode = moveit::core::MoveItErrorCode

Definition at line 90 of file planning_component.h.

◆ SolutionCallbackFunction

typedef std::function<planning_interface::MotionPlanResponse( std::vector<planning_interface::MotionPlanResponse> const& solutions)> moveit_cpp::PlanningComponent::SolutionCallbackFunction

A solution callback function type for the parallel planning API of planning component.

Definition at line 171 of file planning_component.h.

◆ StoppingCriterionFunction

typedef std::function<bool(PlanSolutions const& solutions, MultiPipelinePlanRequestParameters const& plan_request_parameters)> moveit_cpp::PlanningComponent::StoppingCriterionFunction

A stopping criterion callback function for the parallel planning API of planning component.

Definition at line 175 of file planning_component.h.

Constructor & Destructor Documentation

◆ PlanningComponent() [1/4]

moveit_cpp::PlanningComponent::PlanningComponent	(	const std::string &	group_name,
		const ros::NodeHandle &	nh
	)

Constructor.

Definition at line 103 of file planning_component.cpp.

◆ PlanningComponent() [2/4]

moveit_cpp::PlanningComponent::PlanningComponent	(	const std::string &	group_name,
		const MoveItCppPtr &	moveit_cpp
	)

Definition at line 82 of file planning_component.cpp.

◆ PlanningComponent() [3/4]

moveit_cpp::PlanningComponent::PlanningComponent ( const PlanningComponent & )

delete

This class owns unique resources (e.g. action clients, threads) and its not very meaningful to copy. Pass by references, move it, or simply create multiple instances where required.

◆ PlanningComponent() [4/4]

moveit_cpp::PlanningComponent::PlanningComponent ( PlanningComponent && other )

default

◆ ~PlanningComponent()

moveit_cpp::PlanningComponent::~PlanningComponent ( )

Destructor.

Definition at line 108 of file planning_component.cpp.

Member Function Documentation

◆ clearContents()

void moveit_cpp::PlanningComponent::clearContents ( )

private

Reset all member variables.

Definition at line 484 of file planning_component.cpp.

◆ execute()

bool moveit_cpp::PlanningComponent::execute ( bool blocking = true )

Execute the latest computed solution trajectory computed by plan(). By default this function terminates after the execution is complete. The execution can be run in background by setting blocking to false.

Definition at line 427 of file planning_component.cpp.

◆ getLastMotionPlanResponse()

planning_interface::MotionPlanResponse const & moveit_cpp::PlanningComponent::getLastMotionPlanResponse ( )

Return the last plan solution.

Definition at line 446 of file planning_component.cpp.

◆ getNamedTargetStates()

const std::vector< std::string > moveit_cpp::PlanningComponent::getNamedTargetStates ( )

Get the names of the named robot states available as targets.

Definition at line 114 of file planning_component.cpp.

◆ getNamedTargetStateValues()

std::map< std::string, double > moveit_cpp::PlanningComponent::getNamedTargetStateValues ( const std::string & name )

Get the joint values for targets specified by name.

Definition at line 370 of file planning_component.cpp.

◆ getPlanningGroupName()

const std::string & moveit_cpp::PlanningComponent::getPlanningGroupName ( ) const

Get the name of the planning group.

Definition at line 129 of file planning_component.cpp.

◆ getStartState()

moveit::core::RobotStatePtr moveit_cpp::PlanningComponent::getStartState ( )

Get the considered start state if defined, otherwise get the current state.

Definition at line 340 of file planning_component.cpp.

◆ operator=() [1/2]

PlanningComponent& moveit_cpp::PlanningComponent::operator= ( const PlanningComponent & )

delete

◆ operator=() [2/2]

PlanningComponent& moveit_cpp::PlanningComponent::operator= ( PlanningComponent && other )

delete

◆ plan() [1/3]

planning_interface::MotionPlanResponse moveit_cpp::PlanningComponent::plan ( )

Run a plan from start or current state to fulfill the last goal constraints provided by setGoal() using default parameters.

Definition at line 329 of file planning_component.cpp.

◆ plan() [2/3]

planning_interface::MotionPlanResponse moveit_cpp::PlanningComponent::plan	(	const MultiPipelinePlanRequestParameters &	parameters,
		const SolutionCallbackFunction &	solution_selection_callback = `&getShortestSolution`,
		const StoppingCriterionFunction &	stopping_criterion_callback = `StoppingCriterionFunction()`
	)

Run a plan from start or current state to fulfill the last goal constraints provided by setGoal() using the provided PlanRequestParameters.

Definition at line 260 of file planning_component.cpp.

◆ plan() [3/3]

planning_interface::MotionPlanResponse moveit_cpp::PlanningComponent::plan	(	const PlanRequestParameters &	parameters,
		const bool	store_solution = `true`
	)

Run a plan from start or current state to fulfill the last goal constraints provided by setGoal() using the provided PlanRequestParameters.

Definition at line 146 of file planning_component.cpp.

◆ setGoal() [1/4]

bool moveit_cpp::PlanningComponent::setGoal	(	const geometry_msgs::PoseStamped &	goal_pose,
		const std::string &	link_name
	)

Set the goal constraints generated from target pose and robot link.

Definition at line 408 of file planning_component.cpp.

◆ setGoal() [2/4]

bool moveit_cpp::PlanningComponent::setGoal ( const moveit::core::RobotState & goal_state )

Set the goal constraints generated from a target state.

Definition at line 402 of file planning_component.cpp.

◆ setGoal() [3/4]

bool moveit_cpp::PlanningComponent::setGoal ( const std::string & named_target )

Set the goal constraints generated from a named target state.

Definition at line 414 of file planning_component.cpp.

◆ setGoal() [4/4]

bool moveit_cpp::PlanningComponent::setGoal ( const std::vector< moveit_msgs::Constraints > & goal_constraints )

Set the goal constraints used for planning.

Definition at line 396 of file planning_component.cpp.

◆ setPathConstraints()

bool moveit_cpp::PlanningComponent::setPathConstraints ( const moveit_msgs::Constraints & path_constraints )

Set the path constraints used for planning.

Definition at line 134 of file planning_component.cpp.

◆ setStartState() [1/2]

bool moveit_cpp::PlanningComponent::setStartState ( const moveit::core::RobotState & start_state )

Set the robot state that should be considered as start state for planning.

Definition at line 334 of file planning_component.cpp.

◆ setStartState() [2/2]

bool moveit_cpp::PlanningComponent::setStartState ( const std::string & named_state )

Set the named robot state that should be considered as start state for planning.

Definition at line 352 of file planning_component.cpp.

◆ setStartStateToCurrentState()

void moveit_cpp::PlanningComponent::setStartStateToCurrentState ( )

Set the start state for planning to be the current state of the robot.

Definition at line 365 of file planning_component.cpp.

◆ setTrajectoryConstraints()

bool moveit_cpp::PlanningComponent::setTrajectoryConstraints ( const moveit_msgs::TrajectoryConstraints & trajectory_constraints )

Set the trajectory constraints generated from a moveit msg Constraints.

Definition at line 140 of file planning_component.cpp.

◆ setWorkspace()

void moveit_cpp::PlanningComponent::setWorkspace	(	double	minx,
		double	miny,
		double	minz,
		double	maxx,
		double	maxy,
		double	maxz
	)

Specify the workspace bounding box. The box is specified in the planning frame (i.e. relative to the robot root link start position). This is useful when the planning group contains the root joint of the robot – i.e. when planning motion for the robot relative to the world.

Definition at line 378 of file planning_component.cpp.

◆ unsetWorkspace()

void moveit_cpp::PlanningComponent::unsetWorkspace ( )

Remove the workspace bounding box from planning.

Definition at line 391 of file planning_component.cpp.

Member Data Documentation

◆ considered_start_state_

moveit::core::RobotStatePtr moveit_cpp::PlanningComponent::considered_start_state_

private

Definition at line 270 of file planning_component.h.

◆ current_goal_constraints_

std::vector<moveit_msgs::Constraints> moveit_cpp::PlanningComponent::current_goal_constraints_

private

Definition at line 271 of file planning_component.h.

◆ current_path_constraints_

moveit_msgs::Constraints moveit_cpp::PlanningComponent::current_path_constraints_

private

Definition at line 273 of file planning_component.h.

◆ current_trajectory_constraints_

moveit_msgs::TrajectoryConstraints moveit_cpp::PlanningComponent::current_trajectory_constraints_

private

Definition at line 272 of file planning_component.h.

◆ group_name_

const std::string moveit_cpp::PlanningComponent::group_name_

private

Definition at line 264 of file planning_component.h.

◆ joint_model_group_

const moveit::core::JointModelGroup* moveit_cpp::PlanningComponent::joint_model_group_

private

Definition at line 266 of file planning_component.h.

◆ last_plan_solution_

planning_interface::MotionPlanResponse moveit_cpp::PlanningComponent::last_plan_solution_

private

Definition at line 277 of file planning_component.h.

◆ moveit_cpp_

MoveItCppPtr moveit_cpp::PlanningComponent::moveit_cpp_

private

Definition at line 263 of file planning_component.h.

◆ nh_

ros::NodeHandle moveit_cpp::PlanningComponent::nh_

private

Definition at line 262 of file planning_component.h.

◆ plan_request_parameters_

PlanRequestParameters moveit_cpp::PlanningComponent::plan_request_parameters_

private

Definition at line 274 of file planning_component.h.

◆ workspace_parameters_

moveit_msgs::WorkspaceParameters moveit_cpp::PlanningComponent::workspace_parameters_

private

Definition at line 275 of file planning_component.h.

◆ workspace_parameters_set_

bool moveit_cpp::PlanningComponent::workspace_parameters_set_ = false

private

Definition at line 276 of file planning_component.h.

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

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ MoveItErrorCode

◆ SolutionCallbackFunction

◆ StoppingCriterionFunction

Constructor & Destructor Documentation

◆ PlanningComponent() [1/4]

◆ PlanningComponent() [2/4]

◆ PlanningComponent() [3/4]

◆ PlanningComponent() [4/4]

◆ ~PlanningComponent()

Member Function Documentation

◆ clearContents()

◆ execute()

◆ getLastMotionPlanResponse()

◆ getNamedTargetStates()

◆ getNamedTargetStateValues()

◆ getPlanningGroupName()

◆ getStartState()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ plan() [1/3]

◆ plan() [2/3]

◆ plan() [3/3]

◆ setGoal() [1/4]

◆ setGoal() [2/4]

◆ setGoal() [3/4]

◆ setGoal() [4/4]

◆ setPathConstraints()

◆ setStartState() [1/2]

◆ setStartState() [2/2]

◆ setStartStateToCurrentState()

◆ setTrajectoryConstraints()

◆ setWorkspace()

◆ unsetWorkspace()

Member Data Documentation

◆ considered_start_state_

◆ current_goal_constraints_

◆ current_path_constraints_

◆ current_trajectory_constraints_

◆ group_name_

◆ joint_model_group_

◆ last_plan_solution_

◆ moveit_cpp_

◆ nh_

◆ plan_request_parameters_

◆ workspace_parameters_

◆ workspace_parameters_set_