#include <model_based_planning_context.h>

Public Attributes
std::map< std::string, std::string >	config_

ConfiguredPlannerSelector	planner_selector_

constraint_samplers::ConstraintSamplerManagerPtr	constraint_sampler_manager_

ModelBasedStateSpacePtr	state_space_

og::SimpleSetupPtr	ompl_simple_setup_

ob::ConstrainedStateSpacePtr	constrained_state_space_
	OMPL constrained state space to handle path constraints. More...

Detailed Description

Definition at line 65 of file model_based_planning_context.h.

Member Data Documentation

◆ config_

std::map<std::string, std::string> ompl_interface::ModelBasedPlanningContextSpecification::config_

Definition at line 67 of file model_based_planning_context.h.

◆ constrained_state_space_

ob::ConstrainedStateSpacePtr ompl_interface::ModelBasedPlanningContextSpecification::constrained_state_space_

OMPL constrained state space to handle path constraints.

When the parameter "use_ompl_constrained_planning" is set to true in ompl_planning.yaml, the path constraints are handled by this state space.

Important: because code often depents on the attribute state_space_ to copy states from MoveIt to OMPL, we must set state_space_ to have type ompl_interface::ConstrainedPlanningStateSpace. The actual planning does not happen with this state_space_, but it is used to create the constrained_state_space_ of type ompl::base::ConstrainedStateSpace. The latter is the one passed to OMPL simple setup (after creating a ConstrainedSpaceInformation object from it).

Definition at line 85 of file model_based_planning_context.h.

◆ constraint_sampler_manager_

constraint_samplers::ConstraintSamplerManagerPtr ompl_interface::ModelBasedPlanningContextSpecification::constraint_sampler_manager_

Definition at line 69 of file model_based_planning_context.h.

◆ ompl_simple_setup_

og::SimpleSetupPtr ompl_interface::ModelBasedPlanningContextSpecification::ompl_simple_setup_

Definition at line 72 of file model_based_planning_context.h.

◆ planner_selector_

ConfiguredPlannerSelector ompl_interface::ModelBasedPlanningContextSpecification::planner_selector_

Definition at line 68 of file model_based_planning_context.h.

◆ state_space_

ModelBasedStateSpacePtr ompl_interface::ModelBasedPlanningContextSpecification::state_space_

Definition at line 71 of file model_based_planning_context.h.

The documentation for this struct was generated from the following file:

moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h

Public Attributes