#include <planning_context_manager.h>

Classes
struct	CachedContexts
class	LastPlanningContext
Public Member Functions
ModelBasedPlanningContextPtr	getLastPlanningContext () const
unsigned int	getMaximumGoalSamples () const
unsigned int	getMaximumGoalSamplingAttempts () const
unsigned int	getMaximumPlanningThreads () const
double	getMaximumSolutionSegmentLength () const
unsigned int	getMaximumStateSamplingAttempts () const
unsigned int	getMinimumWaypointCount () const
const planning_interface::PlannerConfigurationMap &	getPlannerConfigurations () const
	Return the previously set planner configurations.
ConfiguredPlannerSelector	getPlannerSelector () const
ModelBasedPlanningContextPtr	getPlanningContext (const std::string &config, const std::string &factory_type="") const
ModelBasedPlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, moveit_msgs::MoveItErrorCodes &error_code) const
const std::map< std::string, ConfiguredPlannerAllocator > &	getRegisteredPlannerAllocators () const
const std::map< std::string, ModelBasedStateSpaceFactoryPtr > &	getRegisteredStateSpaceFactories () const
const robot_model::RobotModelConstPtr &	getRobotModel () const
	PlanningContextManager (const robot_model::RobotModelConstPtr &kmodel, const constraint_samplers::ConstraintSamplerManagerPtr &csm)
void	registerPlannerAllocator (const std::string &planner_id, const ConfiguredPlannerAllocator &pa)
void	registerStateSpaceFactory (const ModelBasedStateSpaceFactoryPtr &factory)
void	setMaximumGoalSamples (unsigned int max_goal_samples)
void	setMaximumGoalSamplingAttempts (unsigned int max_goal_sampling_attempts)
void	setMaximumPlanningThreads (unsigned int max_planning_threads)
void	setMaximumSolutionSegmentLength (double mssl)
void	setMaximumStateSamplingAttempts (unsigned int max_state_sampling_attempts)
void	setMinimumWaypointCount (unsigned int mwc)
	Get the minimum number of waypoints along the solution path.
void	setPlannerConfigurations (const planning_interface::PlannerConfigurationMap &pconfig)
	Specify configurations for the planners.
	~PlanningContextManager ()
Protected Types
typedef boost::function< const ModelBasedStateSpaceFactoryPtr &(const std::string &)>	StateSpaceFactoryTypeSelector
Protected Member Functions
ModelBasedPlanningContextPtr	getPlanningContext (const planning_interface::PlannerConfigurationSettings &config, const StateSpaceFactoryTypeSelector &factory_selector, const moveit_msgs::MotionPlanRequest &req) const
	This is the function that constructs new planning contexts if no previous ones exist that are suitable.
const ModelBasedStateSpaceFactoryPtr &	getStateSpaceFactory1 (const std::string &group_name, const std::string &factory_type) const
const ModelBasedStateSpaceFactoryPtr &	getStateSpaceFactory2 (const std::string &group_name, const moveit_msgs::MotionPlanRequest &req) const
ConfiguredPlannerAllocator	plannerSelector (const std::string &planner) const
void	registerDefaultPlanners ()
void	registerDefaultStateSpaces ()
Protected Attributes
constraint_samplers::ConstraintSamplerManagerPtr	constraint_sampler_manager_
robot_model::RobotModelConstPtr	kmodel_
	The kinematic model for which motion plans are computed.
std::map< std::string, ConfiguredPlannerAllocator >	known_planners_
unsigned int	max_goal_samples_
	maximum number of states to sample in the goal region for any planning request (when such sampling is possible)
unsigned int	max_goal_sampling_attempts_
	maximum number of attempts to be made at sampling goals
unsigned int	max_planning_threads_
	when planning in parallel, this is the maximum number of threads to use at one time
double	max_solution_segment_length_
	the maximum length that is allowed for segments that make up the motion plan; by default this is 1% from the extent of the space
unsigned int	max_state_sampling_attempts_
	maximum number of attempts to be made at sampling a state when attempting to find valid states that satisfy some set of constraints
unsigned int	minimum_waypoint_count_
	the minimum number of points to include on the solution path (interpolation is used to reach this number, if needed)
planning_interface::PlannerConfigurationMap	planner_configs_
	All the existing planning configurations. The name of the configuration is the key of the map. This name can be of the form "group_name[config_name]" if there are particular configurations specified for a group, or of the form "group_name" if default settings are to be used.
std::map< std::string, ModelBasedStateSpaceFactoryPtr >	state_space_factories_
Private Attributes
boost::shared_ptr< CachedContexts >	cached_contexts_
boost::shared_ptr < LastPlanningContext >	last_planning_context_

Detailed Description

Definition at line 52 of file planning_context_manager.h.

Member Typedef Documentation

typedef boost::function<const ModelBasedStateSpaceFactoryPtr&(const std::string&)> ompl_interface::PlanningContextManager::StateSpaceFactoryTypeSelector [protected]

Definition at line 177 of file planning_context_manager.h.

Constructor & Destructor Documentation

ompl_interface::PlanningContextManager::PlanningContextManager	(	const robot_model::RobotModelConstPtr &	kmodel,
		const constraint_samplers::ConstraintSamplerManagerPtr &	csm
	)

Definition at line 100 of file planning_context_manager.cpp.

ompl_interface::PlanningContextManager::~PlanningContextManager ( )

Definition at line 111 of file planning_context_manager.cpp.

Member Function Documentation

ompl_interface::ModelBasedPlanningContextPtr ompl_interface::PlanningContextManager::getLastPlanningContext ( ) const

Definition at line 390 of file planning_context_manager.cpp.

unsigned int ompl_interface::PlanningContextManager::getMaximumGoalSamples ( ) const [inline]

Definition at line 94 of file planning_context_manager.h.

unsigned int ompl_interface::PlanningContextManager::getMaximumGoalSamplingAttempts ( ) const [inline]

Definition at line 82 of file planning_context_manager.h.

unsigned int ompl_interface::PlanningContextManager::getMaximumPlanningThreads ( ) const [inline]

Definition at line 106 of file planning_context_manager.h.

double ompl_interface::PlanningContextManager::getMaximumSolutionSegmentLength ( ) const [inline]

Definition at line 118 of file planning_context_manager.h.

unsigned int ompl_interface::PlanningContextManager::getMaximumStateSamplingAttempts ( ) const [inline]

Definition at line 70 of file planning_context_manager.h.

unsigned int ompl_interface::PlanningContextManager::getMinimumWaypointCount ( ) const [inline]

Definition at line 129 of file planning_context_manager.h.

const planning_interface::PlannerConfigurationMap& ompl_interface::PlanningContextManager::getPlannerConfigurations ( ) const [inline]

Return the previously set planner configurations.

Definition at line 64 of file planning_context_manager.h.

ompl_interface::ConfiguredPlannerSelector ompl_interface::PlanningContextManager::getPlannerSelector ( ) const

Definition at line 165 of file planning_context_manager.cpp.

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

Definition at line 175 of file planning_context_manager.cpp.

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

Definition at line 316 of file planning_context_manager.cpp.

ompl_interface::ModelBasedPlanningContextPtr ompl_interface::PlanningContextManager::getPlanningContext	(	const planning_interface::PlannerConfigurationSettings &	config,
		const StateSpaceFactoryTypeSelector &	factory_selector,
		const moveit_msgs::MotionPlanRequest &	req
	)		const `[protected]`

This is the function that constructs new planning contexts if no previous ones exist that are suitable.

Definition at line 191 of file planning_context_manager.cpp.

const std::map<std::string, ConfiguredPlannerAllocator>& ompl_interface::PlanningContextManager::getRegisteredPlannerAllocators ( ) const [inline]

Definition at line 163 of file planning_context_manager.h.

const std::map<std::string, ModelBasedStateSpaceFactoryPtr>& ompl_interface::PlanningContextManager::getRegisteredStateSpaceFactories ( ) const [inline]

Definition at line 168 of file planning_context_manager.h.

const robot_model::RobotModelConstPtr& ompl_interface::PlanningContextManager::getRobotModel ( ) const [inline]

Definition at line 140 of file planning_context_manager.h.

const ompl_interface::ModelBasedStateSpaceFactoryPtr & ompl_interface::PlanningContextManager::getStateSpaceFactory1	(	const std::string &	group_name,
		const std::string &	factory_type
	)		const `[protected]`

Definition at line 273 of file planning_context_manager.cpp.

const ompl_interface::ModelBasedStateSpaceFactoryPtr & ompl_interface::PlanningContextManager::getStateSpaceFactory2	(	const std::string &	group_name,
		const moveit_msgs::MotionPlanRequest &	req
	)		const `[protected]`

Definition at line 287 of file planning_context_manager.cpp.

ompl_interface::ConfiguredPlannerAllocator ompl_interface::PlanningContextManager::plannerSelector ( const std::string & planner ) const [protected]

Definition at line 131 of file planning_context_manager.cpp.

void ompl_interface::PlanningContextManager::registerDefaultPlanners ( ) [protected]

Definition at line 143 of file planning_context_manager.cpp.

void ompl_interface::PlanningContextManager::registerDefaultStateSpaces ( ) [protected]

Definition at line 159 of file planning_context_manager.cpp.

void ompl_interface::PlanningContextManager::registerPlannerAllocator	(	const std::string &	planner_id,
		const ConfiguredPlannerAllocator &	pa
	)		`[inline]`

Definition at line 153 of file planning_context_manager.h.

void ompl_interface::PlanningContextManager::registerStateSpaceFactory ( const ModelBasedStateSpaceFactoryPtr & factory ) [inline]

Definition at line 158 of file planning_context_manager.h.

void ompl_interface::PlanningContextManager::setMaximumGoalSamples ( unsigned int max_goal_samples ) [inline]

Definition at line 100 of file planning_context_manager.h.

void ompl_interface::PlanningContextManager::setMaximumGoalSamplingAttempts ( unsigned int max_goal_sampling_attempts ) [inline]

Definition at line 88 of file planning_context_manager.h.

void ompl_interface::PlanningContextManager::setMaximumPlanningThreads ( unsigned int max_planning_threads ) [inline]

Definition at line 112 of file planning_context_manager.h.

void ompl_interface::PlanningContextManager::setMaximumSolutionSegmentLength ( double mssl ) [inline]

Definition at line 124 of file planning_context_manager.h.

void ompl_interface::PlanningContextManager::setMaximumStateSamplingAttempts ( unsigned int max_state_sampling_attempts ) [inline]

Definition at line 76 of file planning_context_manager.h.

void ompl_interface::PlanningContextManager::setMinimumWaypointCount ( unsigned int mwc ) [inline]

Get the minimum number of waypoints along the solution path.

Definition at line 135 of file planning_context_manager.h.

void ompl_interface::PlanningContextManager::setPlannerConfigurations ( const planning_interface::PlannerConfigurationMap & pconfig )

Specify configurations for the planners.

Parameters:

pconfig Configurations for the different planners

Definition at line 170 of file planning_context_manager.cpp.

Member Data Documentation

boost::shared_ptr<CachedContexts> ompl_interface::PlanningContextManager::cached_contexts_ [private]

Definition at line 228 of file planning_context_manager.h.

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

Definition at line 193 of file planning_context_manager.h.

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

The kinematic model for which motion plans are computed.

Definition at line 191 of file planning_context_manager.h.

std::map<std::string, ConfiguredPlannerAllocator> ompl_interface::PlanningContextManager::known_planners_ [protected]

Definition at line 195 of file planning_context_manager.h.

boost::shared_ptr<LastPlanningContext> ompl_interface::PlanningContextManager::last_planning_context_ [private]

Definition at line 225 of file planning_context_manager.h.

unsigned int ompl_interface::PlanningContextManager::max_goal_samples_ [protected]

maximum number of states to sample in the goal region for any planning request (when such sampling is possible)

Definition at line 206 of file planning_context_manager.h.

unsigned int ompl_interface::PlanningContextManager::max_goal_sampling_attempts_ [protected]

maximum number of attempts to be made at sampling goals

Definition at line 212 of file planning_context_manager.h.

unsigned int ompl_interface::PlanningContextManager::max_planning_threads_ [protected]

when planning in parallel, this is the maximum number of threads to use at one time

Definition at line 215 of file planning_context_manager.h.

double ompl_interface::PlanningContextManager::max_solution_segment_length_ [protected]

the maximum length that is allowed for segments that make up the motion plan; by default this is 1% from the extent of the space

Definition at line 218 of file planning_context_manager.h.

unsigned int ompl_interface::PlanningContextManager::max_state_sampling_attempts_ [protected]

maximum number of attempts to be made at sampling a state when attempting to find valid states that satisfy some set of constraints

Definition at line 209 of file planning_context_manager.h.

unsigned int ompl_interface::PlanningContextManager::minimum_waypoint_count_ [protected]

the minimum number of points to include on the solution path (interpolation is used to reach this number, if needed)

Definition at line 221 of file planning_context_manager.h.

planning_interface::PlannerConfigurationMap ompl_interface::PlanningContextManager::planner_configs_ [protected]

All the existing planning configurations. The name of the configuration is the key of the map. This name can be of the form "group_name[config_name]" if there are particular configurations specified for a group, or of the form "group_name" if default settings are to be used.

Definition at line 203 of file planning_context_manager.h.

std::map<std::string, ModelBasedStateSpaceFactoryPtr> ompl_interface::PlanningContextManager::state_space_factories_ [protected]

Definition at line 196 of file planning_context_manager.h.

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

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation