ompl_interface::OMPLInterface Class Reference

#include <ompl_interface.h>

Inheritance diagram for ompl_interface::OMPLInterface:

List of all members.

Public Member Functions
constraint_samplers::ConstraintSamplerManager &	getConstraintSamplerManager ()
const constraint_samplers::ConstraintSamplerManager &	getConstraintSamplerManager () const
ConstraintsLibrary &	getConstraintsLibrary ()
const ConstraintsLibrary &	getConstraintsLibrary () const
ModelBasedPlanningContextPtr	getLastPlanningContext () const
const planning_interface::PlannerConfigurationMap &	getPlannerConfigurations () const
	Get the configurations for the planners that are already loaded.
ModelBasedPlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req) const
ModelBasedPlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, moveit_msgs::MoveItErrorCodes &error_code) const
ModelBasedPlanningContextPtr	getPlanningContext (const std::string &config, const std::string &factory_type="") const
const PlanningContextManager &	getPlanningContextManager () const
PlanningContextManager &	getPlanningContextManager ()
bool	isUsingConstraintsApproximations () const
void	loadConstraintApproximations (const std::string &path)
bool	loadConstraintApproximations ()
	Look up param server 'constraint_approximations' and use its value as the path to load constraint approximations to.
	OMPLInterface (const robot_model::RobotModelConstPtr &kmodel, const ros::NodeHandle &nh=ros::NodeHandle("~"))
	Initialize OMPL-based planning for a particular robot model. ROS configuration is read from the specified NodeHandle.
	OMPLInterface (const robot_model::RobotModelConstPtr &kmodel, const planning_interface::PlannerConfigurationMap &pconfig, const ros::NodeHandle &nh=ros::NodeHandle("~"))
	Initialize OMPL-based planning for a particular robot model. ROS configuration is read from the specified NodeHandle. However, planner configurations are used as specified in pconfig instead of reading them from the ROS parameter server.
void	printStatus ()
	Print the status of this node.
void	saveConstraintApproximations (const std::string &path)
bool	saveConstraintApproximations ()
	Look up param server 'constraint_approximations' and use its value as the path to save constraint approximations to.
void	setPlannerConfigurations (const planning_interface::PlannerConfigurationMap &pconfig)
	Specify configurations for the planners.
bool	simplifySolutions () const
void	simplifySolutions (bool flag)
bool	solve (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res) const
	Solve the planning problem.
bool	solve (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanDetailedResponse &res) const
	Solve the planning problem but give a more detailed response.
void	useConstraintsApproximations (bool flag)
virtual	~OMPLInterface ()
Protected Member Functions
void	configureContext (const ModelBasedPlanningContextPtr &context) const
void	loadConstraintSamplers ()
	Load the additional plugins for sampling constraints.
void	loadPlannerConfigurations ()
	Configure the planners.
ModelBasedPlanningContextPtr	prepareForSolve (const planning_interface::MotionPlanRequest &req, const planning_scene::PlanningSceneConstPtr &planning_scene, moveit_msgs::MoveItErrorCodes *error_code, unsigned int *attempts, double *timeout) const
	Configure the OMPL planning context for a new planning request.
Protected Attributes
constraint_samplers::ConstraintSamplerManagerPtr	constraint_sampler_manager_
ConstraintsLibraryPtr	constraints_library_
PlanningContextManager	context_manager_
robot_model::RobotModelConstPtr	kmodel_
	The ROS node handle.
ros::NodeHandle	nh_
bool	simplify_solutions_
bool	use_constraints_approximations_
Private Attributes
constraint_sampler_manager_loader::ConstraintSamplerManagerLoaderPtr	constraint_sampler_manager_loader_

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Detailed Description

This class defines the interface to the motion planners in OMPL

Definition at line 57 of file ompl_interface.h.

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Constructor & Destructor Documentation

ompl_interface::OMPLInterface::OMPLInterface	(	const robot_model::RobotModelConstPtr &	kmodel,
		const ros::NodeHandle &	nh = ros::NodeHandle("~")
	)

Initialize OMPL-based planning for a particular robot model. ROS configuration is read from the specified NodeHandle.

Definition at line 44 of file ompl_interface.cpp.

ompl_interface::OMPLInterface::OMPLInterface	(	const robot_model::RobotModelConstPtr &	kmodel,
		const planning_interface::PlannerConfigurationMap &	pconfig,
		const ros::NodeHandle &	nh = ros::NodeHandle("~")
	)

Initialize OMPL-based planning for a particular robot model. ROS configuration is read from the specified NodeHandle. However, planner configurations are used as specified in pconfig instead of reading them from the ROS parameter server.

Definition at line 59 of file ompl_interface.cpp.

ompl_interface::OMPLInterface::~OMPLInterface

(

)

[virtual]

Definition at line 74 of file ompl_interface.cpp.

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Member Function Documentation

void ompl_interface::OMPLInterface::configureContext

(

const ModelBasedPlanningContextPtr &

context

)

const [protected]

Definition at line 122 of file ompl_interface.cpp.

constraint_samplers::ConstraintSamplerManager& ompl_interface::OMPLInterface::getConstraintSamplerManager

(

)

[inline]

Definition at line 122 of file ompl_interface.h.

const constraint_samplers::ConstraintSamplerManager& ompl_interface::OMPLInterface::getConstraintSamplerManager

(

)

const [inline]

Definition at line 127 of file ompl_interface.h.

ConstraintsLibrary& ompl_interface::OMPLInterface::getConstraintsLibrary

(

)

[inline]

Definition at line 112 of file ompl_interface.h.

const ConstraintsLibrary& ompl_interface::OMPLInterface::getConstraintsLibrary

(

)

const [inline]

Definition at line 117 of file ompl_interface.h.

ModelBasedPlanningContextPtr ompl_interface::OMPLInterface::getLastPlanningContext

(

)

const [inline]

Definition at line 97 of file ompl_interface.h.

const planning_interface::PlannerConfigurationMap& ompl_interface::OMPLInterface::getPlannerConfigurations

(

)

const [inline]

Get the configurations for the planners that are already loaded.

Parameters:

pconfig

Configurations for the different planners

Definition at line 76 of file ompl_interface.h.

ompl_interface::ModelBasedPlanningContextPtr ompl_interface::OMPLInterface::getPlanningContext	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const planning_interface::MotionPlanRequest &	req
	)		const

Definition at line 97 of file ompl_interface.cpp.

ompl_interface::ModelBasedPlanningContextPtr ompl_interface::OMPLInterface::getPlanningContext	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const planning_interface::MotionPlanRequest &	req,
		moveit_msgs::MoveItErrorCodes &	error_code
	)		const

Definition at line 104 of file ompl_interface.cpp.

ompl_interface::ModelBasedPlanningContextPtr ompl_interface::OMPLInterface::getPlanningContext	(	const std::string &	config,
		const std::string &	factory_type = ""
	)		const

Definition at line 114 of file ompl_interface.cpp.

const PlanningContextManager& ompl_interface::OMPLInterface::getPlanningContextManager

(

)

const [inline]

Definition at line 102 of file ompl_interface.h.

PlanningContextManager& ompl_interface::OMPLInterface::getPlanningContextManager

(

)

[inline]

Definition at line 107 of file ompl_interface.h.

bool ompl_interface::OMPLInterface::isUsingConstraintsApproximations

(

)

const [inline]

Definition at line 137 of file ompl_interface.h.

void ompl_interface::OMPLInterface::loadConstraintApproximations

(

const std::string &

path

)

Definition at line 163 of file ompl_interface.cpp.

bool ompl_interface::OMPLInterface::loadConstraintApproximations

(

)

Look up param server 'constraint_approximations' and use its value as the path to load constraint approximations to.

Definition at line 188 of file ompl_interface.cpp.

void ompl_interface::OMPLInterface::loadConstraintSamplers

(

)

[protected]

Load the additional plugins for sampling constraints.

Definition at line 199 of file ompl_interface.cpp.

void ompl_interface::OMPLInterface::loadPlannerConfigurations

(

)

[protected]

Configure the planners.

Definition at line 204 of file ompl_interface.cpp.

ModelBasedPlanningContextPtr ompl_interface::OMPLInterface::prepareForSolve	(	const planning_interface::MotionPlanRequest &	req,
		const planning_scene::PlanningSceneConstPtr &	planning_scene,
		moveit_msgs::MoveItErrorCodes *	error_code,
		unsigned int *	attempts,
		double *	timeout
	)		const [protected]

Configure the OMPL planning context for a new planning request.

void ompl_interface::OMPLInterface::printStatus

(

)

Print the status of this node.

Definition at line 322 of file ompl_interface.cpp.

void ompl_interface::OMPLInterface::saveConstraintApproximations

(

const std::string &

path

)

Definition at line 171 of file ompl_interface.cpp.

bool ompl_interface::OMPLInterface::saveConstraintApproximations

(

)

Look up param server 'constraint_approximations' and use its value as the path to save constraint approximations to.

Definition at line 176 of file ompl_interface.cpp.

void ompl_interface::OMPLInterface::setPlannerConfigurations

(

const planning_interface::PlannerConfigurationMap &

pconfig

)

Specify configurations for the planners.

Parameters:

pconfig

Configurations for the different planners

Definition at line 78 of file ompl_interface.cpp.

bool ompl_interface::OMPLInterface::simplifySolutions

(

)

const [inline]

Definition at line 146 of file ompl_interface.h.

void ompl_interface::OMPLInterface::simplifySolutions

(

bool

flag

)

[inline]

Definition at line 151 of file ompl_interface.h.

bool ompl_interface::OMPLInterface::solve	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const planning_interface::MotionPlanRequest &	req,
		planning_interface::MotionPlanResponse &	res
	)		const

Solve the planning problem.

Definition at line 131 of file ompl_interface.cpp.

bool ompl_interface::OMPLInterface::solve	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const planning_interface::MotionPlanRequest &	req,
		planning_interface::MotionPlanDetailedResponse &	res
	)		const

Solve the planning problem but give a more detailed response.

Definition at line 147 of file ompl_interface.cpp.

void ompl_interface::OMPLInterface::useConstraintsApproximations

(

bool

flag

)

[inline]

Definition at line 132 of file ompl_interface.h.

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Member Data Documentation

constraint_samplers::ConstraintSamplerManagerPtr ompl_interface::OMPLInterface::constraint_sampler_manager_ [protected]

Definition at line 187 of file ompl_interface.h.

constraint_sampler_manager_loader::ConstraintSamplerManagerLoaderPtr ompl_interface::OMPLInterface::constraint_sampler_manager_loader_ [private]

Definition at line 198 of file ompl_interface.h.

ConstraintsLibraryPtr ompl_interface::OMPLInterface::constraints_library_ [protected]

Definition at line 191 of file ompl_interface.h.

PlanningContextManager ompl_interface::OMPLInterface::context_manager_ [protected]

Definition at line 189 of file ompl_interface.h.

robot_model::RobotModelConstPtr ompl_interface::OMPLInterface::kmodel_ [protected]

The ROS node handle.

The kinematic model for which motion plans are computed

Definition at line 185 of file ompl_interface.h.

ros::NodeHandle ompl_interface::OMPLInterface::nh_ [protected]

Definition at line 182 of file ompl_interface.h.

bool ompl_interface::OMPLInterface::simplify_solutions_ [protected]

Definition at line 194 of file ompl_interface.h.

bool ompl_interface::OMPLInterface::use_constraints_approximations_ [protected]

Definition at line 192 of file ompl_interface.h.

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

• ompl_interface.h
• ompl_interface.cpp