#include <ompl_interface.h>

Collaboration diagram for ompl_interface::OMPLInterface:

Public Member Functions
	OMPLInterface (const moveit::core::RobotModelConstPtr &robot_model, const rclcpp::Node::SharedPtr &node, const std::string &parameter_namespace)
	Initialize OMPL-based planning for a particular robot model. ROS configuration is read from the specified Node. More...

	OMPLInterface (const moveit::core::RobotModelConstPtr &robot_model, const planning_interface::PlannerConfigurationMap &pconfig, const rclcpp::Node::SharedPtr &node, const std::string &parameter_namespace)
	Initialize OMPL-based planning for a particular robot model. ROS configuration is read from the specified Node. However, planner configurations are used as specified in pconfig instead of reading them from ROS parameters. More...

virtual	~OMPLInterface ()

void	setPlannerConfigurations (const planning_interface::PlannerConfigurationMap &pconfig)
	Specify configurations for the planners. More...

const planning_interface::PlannerConfigurationMap &	getPlannerConfigurations () const
	Get the configurations for the planners that are already loaded. More...

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::msg::MoveItErrorCodes &error_code) const

const PlanningContextManager &	getPlanningContextManager () const

PlanningContextManager &	getPlanningContextManager ()

constraint_samplers::ConstraintSamplerManager &	getConstraintSamplerManager ()

const constraint_samplers::ConstraintSamplerManager &	getConstraintSamplerManager () const

void	useConstraintsApproximations (bool flag)

bool	isUsingConstraintsApproximations () const

void	printStatus ()
	Print the status of this node. More...

Protected Member Functions
bool	loadPlannerConfiguration (const std::string &group_name, const std::string &planner_id, const std::map< std::string, std::string > &group_params, planning_interface::PlannerConfigurationSettings &planner_config)
	Load planner configurations for specified group into planner_config. More...

void	loadPlannerConfigurations ()
	Configure the planners. More...

void	loadConstraintSamplers ()
	Load the additional plugins for sampling constraints. More...

ModelBasedPlanningContextPtr	prepareForSolve (const planning_interface::MotionPlanRequest &req, const planning_scene::PlanningSceneConstPtr &planning_scene, moveit_msgs::msg::MoveItErrorCodes error_code, unsigned int attempts, double *timeout) const
	Configure the OMPL planning context for a new planning request. More...

Protected Attributes
rclcpp::Node::SharedPtr	node_

const std::string	parameter_namespace_
	The ROS node. More...

moveit::core::RobotModelConstPtr	robot_model_
	The kinematic model for which motion plans are computed. More...

constraint_samplers::ConstraintSamplerManagerPtr	constraint_sampler_manager_

PlanningContextManager	context_manager_

bool	use_constraints_approximations_

Detailed Description

This class defines the interface to the motion planners in OMPL

Definition at line 54 of file ompl_interface.h.

Constructor & Destructor Documentation

◆ OMPLInterface() [1/2]

ompl_interface::OMPLInterface::OMPLInterface	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const rclcpp::Node::SharedPtr &	node,
		const std::string &	parameter_namespace
	)

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

Definition at line 49 of file ompl_interface.cpp.

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◆ OMPLInterface() [2/2]

ompl_interface::OMPLInterface::OMPLInterface	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const planning_interface::PlannerConfigurationMap &	pconfig,
		const rclcpp::Node::SharedPtr &	node,
		const std::string &	parameter_namespace
	)

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

Definition at line 63 of file ompl_interface.cpp.

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◆ ~OMPLInterface()

ompl_interface::OMPLInterface::~OMPLInterface ( )

virtualdefault

Member Function Documentation

◆ getConstraintSamplerManager() [1/2]

constraint_samplers::ConstraintSamplerManager& ompl_interface::OMPLInterface::getConstraintSamplerManager ( )

inline

Definition at line 99 of file ompl_interface.h.

◆ getConstraintSamplerManager() [2/2]

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

inline

Definition at line 104 of file ompl_interface.h.

◆ getPlannerConfigurations()

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 78 of file ompl_interface.h.

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◆ getPlanningContext() [1/2]

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

Definition at line 99 of file ompl_interface.cpp.

◆ getPlanningContext() [2/2]

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

Definition at line 107 of file ompl_interface.cpp.

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◆ getPlanningContextManager() [1/2]

PlanningContextManager& ompl_interface::OMPLInterface::getPlanningContextManager ( )

inline

Definition at line 94 of file ompl_interface.h.

◆ getPlanningContextManager() [2/2]

const PlanningContextManager& ompl_interface::OMPLInterface::getPlanningContextManager ( ) const

inline

Definition at line 89 of file ompl_interface.h.

◆ isUsingConstraintsApproximations()

bool ompl_interface::OMPLInterface::isUsingConstraintsApproximations ( ) const

inline

Definition at line 114 of file ompl_interface.h.

◆ loadConstraintSamplers()

void ompl_interface::OMPLInterface::loadConstraintSamplers ( )

protected

Load the additional plugins for sampling constraints.

Definition at line 116 of file ompl_interface.cpp.

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◆ loadPlannerConfiguration()

bool ompl_interface::OMPLInterface::loadPlannerConfiguration	(	const std::string &	group_name,
		const std::string &	planner_id,
		const std::map< std::string, std::string > &	group_params,
		planning_interface::PlannerConfigurationSettings &	planner_config
	)

protected

Load planner configurations for specified group into planner_config.

Definition at line 123 of file ompl_interface.cpp.

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◆ loadPlannerConfigurations()

void ompl_interface::OMPLInterface::loadPlannerConfigurations ( )

protected

Configure the planners.

Definition at line 153 of file ompl_interface.cpp.

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◆ prepareForSolve()

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

protected

Configure the OMPL planning context for a new planning request.

◆ printStatus()

void ompl_interface::OMPLInterface::printStatus ( )

Print the status of this node.

Definition at line 249 of file ompl_interface.cpp.

◆ setPlannerConfigurations()

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 80 of file ompl_interface.cpp.

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◆ useConstraintsApproximations()

void ompl_interface::OMPLInterface::useConstraintsApproximations ( bool flag )

inline

Definition at line 109 of file ompl_interface.h.

Member Data Documentation

◆ constraint_sampler_manager_

constraint_samplers::ConstraintSamplerManagerPtr ompl_interface::OMPLInterface::constraint_sampler_manager_

protected

Definition at line 146 of file ompl_interface.h.

◆ context_manager_

PlanningContextManager ompl_interface::OMPLInterface::context_manager_

protected

Definition at line 148 of file ompl_interface.h.

◆ node_

rclcpp::Node::SharedPtr ompl_interface::OMPLInterface::node_

protected

Definition at line 140 of file ompl_interface.h.

◆ parameter_namespace_

const std::string ompl_interface::OMPLInterface::parameter_namespace_

protected

The ROS node.

Definition at line 141 of file ompl_interface.h.

◆ robot_model_

moveit::core::RobotModelConstPtr ompl_interface::OMPLInterface::robot_model_

protected

The kinematic model for which motion plans are computed.

Definition at line 144 of file ompl_interface.h.

◆ use_constraints_approximations_

bool ompl_interface::OMPLInterface::use_constraints_approximations_

protected

Definition at line 150 of file ompl_interface.h.

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

moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h
moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ OMPLInterface() [1/2]

◆ OMPLInterface() [2/2]

◆ ~OMPLInterface()

Member Function Documentation

◆ getConstraintSamplerManager() [1/2]

◆ getConstraintSamplerManager() [2/2]

◆ getPlannerConfigurations()

◆ getPlanningContext() [1/2]

◆ getPlanningContext() [2/2]

◆ getPlanningContextManager() [1/2]

◆ getPlanningContextManager() [2/2]

◆ isUsingConstraintsApproximations()

◆ loadConstraintSamplers()

◆ loadPlannerConfiguration()

◆ loadPlannerConfigurations()

◆ prepareForSolve()

◆ printStatus()

◆ setPlannerConfigurations()

◆ useConstraintsApproximations()

Member Data Documentation

◆ constraint_sampler_manager_

◆ context_manager_

◆ node_

◆ parameter_namespace_

◆ robot_model_

◆ use_constraints_approximations_