moveit2
The MoveIt Motion Planning Framework for ROS 2.
Classes | Enumerations | Functions | Variables
moveit::hybrid_planning Namespace Reference

Classes

class  GlobalPlannerComponent
 
class  GlobalPlannerInterface
 
class  MoveItPlanningPipeline
 
class  HybridPlanningManager
 
class  MoveItErrorCode
 
struct  ReactionResult
 
class  PlannerLogicInterface
 
class  ReplanInvalidatedTrajectory
 
class  SinglePlanExecution
 
class  ForwardTrajectory
 
class  LocalConstraintSolverInterface
 
class  LocalPlannerComponent
 
class  TrajectoryOperatorInterface
 
class  SimpleSampler
 

Enumerations

enum class  HybridPlanningEvent {
  HYBRID_PLANNING_REQUEST_RECEIVED , GLOBAL_PLANNING_ACTION_SUCCESSFUL , GLOBAL_PLANNING_ACTION_ABORTED , GLOBAL_PLANNING_ACTION_CANCELED ,
  GLOBAL_SOLUTION_AVAILABLE , LOCAL_PLANNING_ACTION_SUCCESSFUL , LOCAL_PLANNING_ACTION_ABORTED , LOCAL_PLANNING_ACTION_CANCELED ,
  UNDEFINED
}
 
enum  LocalFeedbackEnum { COLLISION_AHEAD = 1 , LOCAL_PLANNER_STUCK = 2 }
 Expected feedback types. More...
 
enum class  LocalPlannerState : int8_t {
  ABORT = -1 , ERROR = 0 , UNCONFIGURED = 1 , AWAIT_GLOBAL_TRAJECTORY = 2 ,
  LOCAL_PLANNING_ACTIVE = 3
}
 

Functions

constexpr std::string_view toString (const LocalFeedbackEnum &code)
 
template<typename T >
void declareOrGetParam (const std::string &param_name, T &output_value, const T &default_value, const rclcpp::Node::SharedPtr &node)
 

Variables

const std::string UNDEFINED = "<undefined>"
 
const std::string PLANNING_SCENE_MONITOR_NS = "planning_scene_monitor_options."
 
const std::string PLANNING_PIPELINES_NS = "planning_pipelines."
 
const std::string PLAN_REQUEST_PARAM_NS = "plan_request_params."
 

Enumeration Type Documentation

◆ HybridPlanningEvent

Enum class HybridPlanningEvent - This class defines the most basic events that are likely to occur during hybrid planning

Enumerator
HYBRID_PLANNING_REQUEST_RECEIVED 
GLOBAL_PLANNING_ACTION_SUCCESSFUL 
GLOBAL_PLANNING_ACTION_ABORTED 
GLOBAL_PLANNING_ACTION_CANCELED 
GLOBAL_SOLUTION_AVAILABLE 
LOCAL_PLANNING_ACTION_SUCCESSFUL 
LOCAL_PLANNING_ACTION_ABORTED 
LOCAL_PLANNING_ACTION_CANCELED 
UNDEFINED 

Definition at line 45 of file hybrid_planning_events.h.

◆ LocalFeedbackEnum

Expected feedback types.

Enumerator
COLLISION_AHEAD 
LOCAL_PLANNER_STUCK 

Definition at line 51 of file feedback_types.h.

◆ LocalPlannerState

Internal local planner states TODO(sjahr) Use lifecycle node?

Enumerator
ABORT 
ERROR 
UNCONFIGURED 
AWAIT_GLOBAL_TRAJECTORY 
LOCAL_PLANNING_ACTIVE 

Definition at line 88 of file local_planner_component.h.

Function Documentation

◆ declareOrGetParam()

template<typename T >
void moveit::hybrid_planning::declareOrGetParam ( const std::string &  param_name,
T &  output_value,
const T &  default_value,
const rclcpp::Node::SharedPtr &  node 
)

Definition at line 68 of file local_planner_component.h.

◆ toString()

constexpr std::string_view moveit::hybrid_planning::toString ( const LocalFeedbackEnum code)
constexpr

Definition at line 57 of file feedback_types.h.

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Variable Documentation

◆ PLAN_REQUEST_PARAM_NS

const std::string moveit::hybrid_planning::PLAN_REQUEST_PARAM_NS = "plan_request_params."

Definition at line 48 of file moveit_planning_pipeline.cpp.

◆ PLANNING_PIPELINES_NS

const std::string moveit::hybrid_planning::PLANNING_PIPELINES_NS = "planning_pipelines."

Definition at line 47 of file moveit_planning_pipeline.cpp.

◆ PLANNING_SCENE_MONITOR_NS

const std::string moveit::hybrid_planning::PLANNING_SCENE_MONITOR_NS = "planning_scene_monitor_options."

Definition at line 46 of file moveit_planning_pipeline.cpp.

◆ UNDEFINED

const std::string moveit::hybrid_planning::UNDEFINED = "<undefined>"

Definition at line 52 of file global_planner_component.cpp.