State space to be used in combination with OMPL's constrained planning functionality. More...

#include <constrained_planning_state_space.h>

Inheritance diagram for ompl_interface::ConstrainedPlanningStateSpace:

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Collaboration diagram for ompl_interface::ConstrainedPlanningStateSpace:

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Public Member Functions
	ConstrainedPlanningStateSpace (const ModelBasedStateSpaceSpecification &spec)

const std::string &	getParameterizationType () const override

double *	getValueAddressAtIndex (ompl::base::State *ompl_state, const unsigned int index) const override

void	copyToRobotState (moveit::core::RobotState &robot_state, const ompl::base::State *ompl_state) const override
	Copy the data from an OMPL state to a set of joint states.

void	copyToOMPLState (ompl::base::State *ompl_state, const moveit::core::RobotState &robot_state) const override
	Copy the data from a set of joint states to an OMPL state.

void	copyJointToOMPLState (ompl::base::State ompl_state, const moveit::core::RobotState &robot_state, const moveit::core::JointModel joint_model, int ompl_state_joint_index) const override
	Copy a single joint's values (which might have multiple variables) from a MoveIt robot_state to an OMPL state.

Public Member Functions inherited from ompl_interface::ModelBasedStateSpace
	ModelBasedStateSpace (ModelBasedStateSpaceSpecification spec)

	~ModelBasedStateSpace () override

void	setInterpolationFunction (const InterpolationFunction &fun)

void	setDistanceFunction (const DistanceFunction &fun)

ompl::base::State *	allocState () const override

void	freeState (ompl::base::State *state) const override

unsigned int	getDimension () const override

void	enforceBounds (ompl::base::State *state) const override

bool	satisfiesBounds (const ompl::base::State *state) const override

void	copyState (ompl::base::State destination, const ompl::base::State source) const override

void	interpolate (const ompl::base::State from, const ompl::base::State to, const double t, ompl::base::State *state) const override

double	distance (const ompl::base::State state1, const ompl::base::State state2) const override

bool	equalStates (const ompl::base::State state1, const ompl::base::State state2) const override

double	getMaximumExtent () const override

double	getMeasure () const override

unsigned int	getSerializationLength () const override

void	serialize (void serialization, const ompl::base::State state) const override

void	deserialize (ompl::base::State state, const void serialization) const override

double *	getValueAddressAtIndex (ompl::base::State *state, const unsigned int index) const override

ompl::base::StateSamplerPtr	allocDefaultStateSampler () const override

const moveit::core::RobotModelConstPtr &	getRobotModel () const

const moveit::core::JointModelGroup *	getJointModelGroup () const

const std::string &	getJointModelGroupName () const

const ModelBasedStateSpaceSpecification &	getSpecification () const

void	printState (const ompl::base::State *state, std::ostream &out) const override

void	printSettings (std::ostream &out) const override

virtual void	setPlanningVolume (double minX, double maxX, double minY, double maxY, double minZ, double maxZ)
	Set the planning volume for the possible SE2 and/or SE3 components of the state space.

const moveit::core::JointBoundsVector &	getJointsBounds () const

double	getTagSnapToSegment () const

void	setTagSnapToSegment (double snap)

Static Public Attributes
static const std::string	PARAMETERIZATION_TYPE = "ConstrainedPlanningJointModel"

Additional Inherited Members
Protected Attributes inherited from ompl_interface::ModelBasedStateSpace
ModelBasedStateSpaceSpecification	spec_

std::vector< moveit::core::JointModel::Bounds >	joint_bounds_storage_

std::vector< const moveit::core::JointModel * >	joint_model_vector_

unsigned int	variable_count_

size_t	state_values_size_

InterpolationFunction	interpolation_function_

DistanceFunction	distance_function_

double	tag_snap_to_segment_

double	tag_snap_to_segment_complement_

Detailed Description

State space to be used in combination with OMPL's constrained planning functionality.

The state space is called ConstrainedPlanningStateSpace, as in "use this state space for constrained planning". Not to be confused with the ompl::base::ConstrainedStateSpace, which is constrained in the sense that it generates states that satisfy the constraints. This state space does not! OMPL's ompl::base::ConstrainedStateSpace will wrap around ConstrainedPlanningStateSpace.

This class overrides the virtual methods to copy states from OMPL to MoveIt and vice-versa. It is used as state space in the ModelBasedPlanningContextSpecification and can handle general ompl::base::State* pointers that need to be casted to a ompl::Base::ConstrainedStateSpace::StateType, instead of the 'normal' ompl_interface::ModelBasedStateSpace::StateType. This casting looks like this:

ompl_state->as<ompl::base::ConstrainedStateSpace::StateType>()->getState()->as<StateType>()

where getState() is used to access the underlying state space, which should be an instance of this class.

Definition at line 62 of file constrained_planning_state_space.h.

Constructor & Destructor Documentation

◆ ConstrainedPlanningStateSpace()

ompl_interface::ConstrainedPlanningStateSpace::ConstrainedPlanningStateSpace ( const ModelBasedStateSpaceSpecification & spec )

Definition at line 45 of file constrained_planning_state_space.cpp.

Member Function Documentation

◆ copyJointToOMPLState()

void ompl_interface::ConstrainedPlanningStateSpace::copyJointToOMPLState	(	ompl::base::State *	state,
		const moveit::core::RobotState &	robot_state,
		const moveit::core::JointModel *	joint_model,
		int	ompl_state_joint_index
	)		const

overridevirtual

Copy a single joint's values (which might have multiple variables) from a MoveIt robot_state to an OMPL state.

Parameters

state	- output OMPL state with single joint modified
robot_state	- input MoveIt state to get the joint value from
joint_model	- the joint to copy values of
ompl_state_joint_index	- the index of the joint in the ompl state (passed in for efficiency, you should cache this index) e.g. ompl_state_joint_index = joint_model_group_->getVariableGroupIndex("virtual_joint");

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 86 of file constrained_planning_state_space.cpp.

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◆ copyToOMPLState()

void ompl_interface::ConstrainedPlanningStateSpace::copyToOMPLState	(	ompl::base::State *	state,
		const moveit::core::RobotState &	rstate
	)		const

overridevirtual

Copy the data from a set of joint states to an OMPL state.

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 74 of file constrained_planning_state_space.cpp.

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◆ copyToRobotState()

void ompl_interface::ConstrainedPlanningStateSpace::copyToRobotState	(	moveit::core::RobotState &	rstate,
		const ompl::base::State *	state
	)		const

overridevirtual

Copy the data from an OMPL state to a set of joint states.

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 64 of file constrained_planning_state_space.cpp.

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◆ getParameterizationType()

const std::string & ompl_interface::ConstrainedPlanningStateSpace::getParameterizationType ( ) const

inlineoverridevirtual

Implements ompl_interface::ModelBasedStateSpace.

Definition at line 69 of file constrained_planning_state_space.h.

◆ getValueAddressAtIndex()

double * ompl_interface::ConstrainedPlanningStateSpace::getValueAddressAtIndex	(	ompl::base::State *	ompl_state,
		const unsigned int	index
	)		const

override

Definition at line 51 of file constrained_planning_state_space.cpp.

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Member Data Documentation

◆ PARAMETERIZATION_TYPE

const std::string ompl_interface::ConstrainedPlanningStateSpace::PARAMETERIZATION_TYPE = "ConstrainedPlanningJointModel"

static

Definition at line 65 of file constrained_planning_state_space.h.

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

moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/constrained_planning_state_space.h
moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/constrained_planning_state_space.cpp

Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ConstrainedPlanningStateSpace()

Member Function Documentation

◆ copyJointToOMPLState()

◆ copyToOMPLState()

◆ copyToRobotState()

◆ getParameterizationType()

◆ getValueAddressAtIndex()

Member Data Documentation

◆ PARAMETERIZATION_TYPE