#include <model_based_planning_context.hpp>

Inheritance diagram for ompl_interface::ModelBasedPlanningContext:

Collaboration diagram for ompl_interface::ModelBasedPlanningContext:

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Public Member Functions
	ModelBasedPlanningContext (const std::string &name, const ModelBasedPlanningContextSpecification &spec)
	~ModelBasedPlanningContext () override
void	solve (planning_interface::MotionPlanResponse &res) override
	Solve the motion planning problem and store the result in res. This function should not clear data structures before computing. The constructor and clear() do that.
void	solve (planning_interface::MotionPlanDetailedResponse &res) override
	Solve the motion planning problem and store the detailed result in res. This function should not clear data structures before computing. The constructor and clear() do that.
void	clear () override
	Clear the data structures used by the planner.
bool	terminate () override
	If solve() is running, terminate the computation. Return false if termination not possible. No-op if solve() is not running (returns true).
const ModelBasedPlanningContextSpecification &	getSpecification () const
const std::map< std::string, std::string > &	getSpecificationConfig () const
void	setSpecificationConfig (const std::map< std::string, std::string > &config)
const moveit::core::RobotModelConstPtr &	getRobotModel () const
const moveit::core::JointModelGroup *	getJointModelGroup () const
const moveit::core::RobotState &	getCompleteInitialRobotState () const
const ModelBasedStateSpacePtr &	getOMPLStateSpace () const
const og::SimpleSetupPtr &	getOMPLSimpleSetup () const
og::SimpleSetupPtr &	getOMPLSimpleSetup ()
const ot::Benchmark &	getOMPLBenchmark () const
ot::Benchmark &	getOMPLBenchmark ()
const kinematic_constraints::KinematicConstraintSetPtr &	getPathConstraints () const
unsigned int	getMaximumStateSamplingAttempts () const
void	setMaximumStateSamplingAttempts (unsigned int max_state_sampling_attempts)
unsigned int	getMaximumGoalSamplingAttempts () const
void	setMaximumGoalSamplingAttempts (unsigned int max_goal_sampling_attempts)
unsigned int	getMaximumGoalSamples () const
void	setMaximumGoalSamples (unsigned int max_goal_samples)
unsigned int	getMaximumPlanningThreads () const
void	setMaximumPlanningThreads (unsigned int max_planning_threads)
double	getMaximumSolutionSegmentLength () const
void	setMaximumSolutionSegmentLength (double mssl)
unsigned int	getMinimumWaypointCount () const
void	setMinimumWaypointCount (unsigned int mwc)
	Get the minimum number of waypoints along the solution path.
const constraint_samplers::ConstraintSamplerManagerPtr &	getConstraintSamplerManager ()
void	setConstraintSamplerManager (const constraint_samplers::ConstraintSamplerManagerPtr &csm)
void	setVerboseStateValidityChecks (bool flag)
void	setProjectionEvaluator (const std::string &peval)
void	setPlanningVolume (const moveit_msgs::msg::WorkspaceParameters &wparams)
void	setCompleteInitialState (const moveit::core::RobotState &complete_initial_robot_state)
bool	setGoalConstraints (const std::vector< moveit_msgs::msg::Constraints > &goal_constraints, const moveit_msgs::msg::Constraints &path_constraints, moveit_msgs::msg::MoveItErrorCodes *error)
bool	setPathConstraints (const moveit_msgs::msg::Constraints &path_constraints, moveit_msgs::msg::MoveItErrorCodes *error)
void	setConstraintsApproximations (const ConstraintsLibraryPtr &constraints_library)
ConstraintsLibraryPtr	getConstraintsLibraryNonConst ()
const ConstraintsLibraryPtr &	getConstraintsLibrary () const
bool	simplifySolutions () const
void	simplifySolutions (bool flag)
void	setInterpolation (bool flag)
void	setHybridize (bool flag)
const moveit_msgs::msg::MoveItErrorCodes	solve (double timeout, unsigned int count)
bool	benchmark (double timeout, unsigned int count, const std::string &filename="")
double	getLastPlanTime () const
double	getLastSimplifyTime () const
void	simplifySolution (double timeout)
void	interpolateSolution ()
bool	getSolutionPath (robot_trajectory::RobotTrajectory &traj) const
void	convertPath (const og::PathGeometric &pg, robot_trajectory::RobotTrajectory &traj) const
bool	loadConstraintApproximations (const rclcpp::Node::SharedPtr &node)
	Look up param server 'constraint_approximations' and use its value as the path to load constraint approximations to.
bool	saveConstraintApproximations (const rclcpp::Node::SharedPtr &node)
	Look up param server 'constraint_approximations' and use its value as the path to save constraint approximations to.
virtual void	configure (const rclcpp::Node::SharedPtr &node, bool use_constraints_approximations)
	Configure ompl_simple_setup_ and optionally the constraints_library_.
Public Member Functions inherited from planning_interface::PlanningContext
	PlanningContext (const std::string &name, const std::string &group)
	Construct a planning context named name for the group group.
virtual	~PlanningContext ()
const std::string &	getGroupName () const
	Get the name of the group this planning context is for.
const std::string &	getName () const
	Get the name of this planning context.
const planning_scene::PlanningSceneConstPtr &	getPlanningScene () const
	Get the planning scene associated to this planning context.
const MotionPlanRequest &	getMotionPlanRequest () const
	Get the motion plan request associated to this planning context.
void	setPlanningScene (const planning_scene::PlanningSceneConstPtr &planning_scene)
	Set the planning scene for this context.
void	setMotionPlanRequest (const MotionPlanRequest &request)
	Set the planning request for this context.

Protected Member Functions
void	preSolve ()
void	postSolve ()
void	startSampling ()
void	stopSampling ()
virtual ob::ProjectionEvaluatorPtr	getProjectionEvaluator (const std::string &peval) const
virtual ob::StateSamplerPtr	allocPathConstrainedSampler (const ompl::base::StateSpace *ss) const
virtual void	useConfig ()
virtual ob::GoalPtr	constructGoal ()
virtual ob::PlannerTerminationCondition	constructPlannerTerminationCondition (double timeout, const ompl::time::point &start)
void	registerTerminationCondition (const ob::PlannerTerminationCondition &ptc)
void	unregisterTerminationCondition ()
int32_t	logPlannerStatus (const og::SimpleSetupPtr &ompl_simple_setup)
	Convert OMPL PlannerStatus to moveit_msgs::msg::MoveItErrorCode.

Protected Attributes
ModelBasedPlanningContextSpecification	spec_
moveit::core::RobotState	complete_initial_robot_state_
og::SimpleSetupPtr	ompl_simple_setup_
	the OMPL planning context; this contains the problem definition and the planner used
ot::Benchmark	ompl_benchmark_
	the OMPL tool for benchmarking planners
ot::ParallelPlan	ompl_parallel_plan_
	tool used to compute multiple plans in parallel; this uses the problem definition maintained by ompl_simple_setup_
std::vector< int >	space_signature_
kinematic_constraints::KinematicConstraintSetPtr	path_constraints_
moveit_msgs::msg::Constraints	path_constraints_msg_
std::vector< kinematic_constraints::KinematicConstraintSetPtr >	goal_constraints_
const ob::PlannerTerminationCondition *	ptc_
std::mutex	ptc_lock_
double	last_plan_time_
	the time spent computing the last plan
double	last_simplify_time_
	the time spent simplifying the last plan
unsigned int	max_goal_samples_
unsigned int	max_state_sampling_attempts_
unsigned int	max_goal_sampling_attempts_
	maximum number of attempts to be made at sampling a goal states
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_
unsigned int	minimum_waypoint_count_
bool	multi_query_planning_enabled_
	when false, clears planners before running solve()
ConstraintsLibraryPtr	constraints_library_
bool	simplify_solutions_
bool	interpolate_
bool	hybridize_
Protected Attributes inherited from planning_interface::PlanningContext
std::string	name_
	The name of this planning context.
std::string	group_
	The group (as in the SRDF) this planning context is for.
planning_scene::PlanningSceneConstPtr	planning_scene_
	The planning scene for this context.
MotionPlanRequest	request_
	The planning request for this context.

Detailed Description

Definition at line 88 of file model_based_planning_context.hpp.

Constructor & Destructor Documentation

◆ ModelBasedPlanningContext()

ompl_interface::ModelBasedPlanningContext::ModelBasedPlanningContext	(	const std::string &	name,
		const ModelBasedPlanningContextSpecification &	spec )

Definition at line 82 of file model_based_planning_context.cpp.

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◆ ~ModelBasedPlanningContext()

ompl_interface::ModelBasedPlanningContext::~ModelBasedPlanningContext ( )

inlineoverride

Definition at line 93 of file model_based_planning_context.hpp.

Member Function Documentation

◆ allocPathConstrainedSampler()

ompl::base::StateSamplerPtr ompl_interface::ModelBasedPlanningContext::allocPathConstrainedSampler ( const ompl::base::StateSpace * ss ) const

protectedvirtual

Definition at line 236 of file model_based_planning_context.cpp.

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◆ benchmark()

bool ompl_interface::ModelBasedPlanningContext::benchmark	(	double	timeout,
		unsigned int	count,
		const std::string &	filename = "" )

Definition at line 698 of file model_based_planning_context.cpp.

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◆ clear()

void ompl_interface::ModelBasedPlanningContext::clear ( )

overridevirtual

Clear the data structures used by the planner.

Implements planning_interface::PlanningContext.

Definition at line 628 of file model_based_planning_context.cpp.

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◆ configure()

void ompl_interface::ModelBasedPlanningContext::configure	(	const rclcpp::Node::SharedPtr &	node,
		bool	use_constraints_approximations )

virtual

Configure ompl_simple_setup_ and optionally the constraints_library_.

ompl_simple_setup_ gets a start state, state sampler, and state validity checker.

Parameters

node	ROS node used to load the constraint approximations.
use_constraints_approximations	Set to true if we want to load the constraint approximation.

Definition at line 110 of file model_based_planning_context.cpp.

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◆ constructGoal()

ompl::base::GoalPtr ompl_interface::ModelBasedPlanningContext::constructGoal ( )

protectedvirtual

Definition at line 520 of file model_based_planning_context.cpp.

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◆ constructPlannerTerminationCondition()

ompl::base::PlannerTerminationCondition ompl_interface::ModelBasedPlanningContext::constructPlannerTerminationCondition	(	double	timeout,
		const ompl::time::point &	start )

protectedvirtual

Definition at line 554 of file model_based_planning_context.cpp.

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◆ convertPath()

void ompl_interface::ModelBasedPlanningContext::convertPath	(	const og::PathGeometric &	pg,
		robot_trajectory::RobotTrajectory &	traj ) const

Definition at line 491 of file model_based_planning_context.cpp.

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◆ getCompleteInitialRobotState()

const moveit::core::RobotState & ompl_interface::ModelBasedPlanningContext::getCompleteInitialRobotState ( ) const

inline

Definition at line 128 of file model_based_planning_context.hpp.

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◆ getConstraintSamplerManager()

const constraint_samplers::ConstraintSamplerManagerPtr & ompl_interface::ModelBasedPlanningContext::getConstraintSamplerManager ( )

inline

Definition at line 234 of file model_based_planning_context.hpp.

◆ getConstraintsLibrary()

const ConstraintsLibraryPtr & ompl_interface::ModelBasedPlanningContext::getConstraintsLibrary ( ) const

inline

Definition at line 268 of file model_based_planning_context.hpp.

◆ getConstraintsLibraryNonConst()

ConstraintsLibraryPtr ompl_interface::ModelBasedPlanningContext::getConstraintsLibraryNonConst ( )

inline

Definition at line 263 of file model_based_planning_context.hpp.

◆ getJointModelGroup()

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

inline

Definition at line 123 of file model_based_planning_context.hpp.

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◆ getLastPlanTime()

double ompl_interface::ModelBasedPlanningContext::getLastPlanTime ( ) const

inline

Definition at line 308 of file model_based_planning_context.hpp.

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◆ getLastSimplifyTime()

double ompl_interface::ModelBasedPlanningContext::getLastSimplifyTime ( ) const

inline

Definition at line 314 of file model_based_planning_context.hpp.

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◆ getMaximumGoalSamples()

unsigned int ompl_interface::ModelBasedPlanningContext::getMaximumGoalSamples ( ) const

inline

Definition at line 188 of file model_based_planning_context.hpp.

◆ getMaximumGoalSamplingAttempts()

unsigned int ompl_interface::ModelBasedPlanningContext::getMaximumGoalSamplingAttempts ( ) const

inline

Definition at line 176 of file model_based_planning_context.hpp.

◆ getMaximumPlanningThreads()

unsigned int ompl_interface::ModelBasedPlanningContext::getMaximumPlanningThreads ( ) const

inline

Definition at line 200 of file model_based_planning_context.hpp.

◆ getMaximumSolutionSegmentLength()

double ompl_interface::ModelBasedPlanningContext::getMaximumSolutionSegmentLength ( ) const

inline

Definition at line 212 of file model_based_planning_context.hpp.

◆ getMaximumStateSamplingAttempts()

unsigned int ompl_interface::ModelBasedPlanningContext::getMaximumStateSamplingAttempts ( ) const

inline

Definition at line 164 of file model_based_planning_context.hpp.

◆ getMinimumWaypointCount()

unsigned int ompl_interface::ModelBasedPlanningContext::getMinimumWaypointCount ( ) const

inline

Definition at line 223 of file model_based_planning_context.hpp.

◆ getOMPLBenchmark() [1/2]

ot::Benchmark & ompl_interface::ModelBasedPlanningContext::getOMPLBenchmark ( )

inline

Definition at line 153 of file model_based_planning_context.hpp.

◆ getOMPLBenchmark() [2/2]

const ot::Benchmark & ompl_interface::ModelBasedPlanningContext::getOMPLBenchmark ( ) const

inline

Definition at line 148 of file model_based_planning_context.hpp.

◆ getOMPLSimpleSetup() [1/2]

og::SimpleSetupPtr & ompl_interface::ModelBasedPlanningContext::getOMPLSimpleSetup ( )

inline

Definition at line 143 of file model_based_planning_context.hpp.

◆ getOMPLSimpleSetup() [2/2]

const og::SimpleSetupPtr & ompl_interface::ModelBasedPlanningContext::getOMPLSimpleSetup ( ) const

inline

Definition at line 138 of file model_based_planning_context.hpp.

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◆ getOMPLStateSpace()

const ModelBasedStateSpacePtr & ompl_interface::ModelBasedPlanningContext::getOMPLStateSpace ( ) const

inline

Definition at line 133 of file model_based_planning_context.hpp.

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◆ getPathConstraints()

const kinematic_constraints::KinematicConstraintSetPtr & ompl_interface::ModelBasedPlanningContext::getPathConstraints ( ) const

inline

Definition at line 158 of file model_based_planning_context.hpp.

◆ getProjectionEvaluator()

ompl::base::ProjectionEvaluatorPtr ompl_interface::ModelBasedPlanningContext::getProjectionEvaluator ( const std::string & peval ) const

protectedvirtual

Definition at line 167 of file model_based_planning_context.cpp.

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◆ getRobotModel()

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

inline

Definition at line 118 of file model_based_planning_context.hpp.

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◆ getSolutionPath()

bool ompl_interface::ModelBasedPlanningContext::getSolutionPath ( robot_trajectory::RobotTrajectory & traj ) const

Definition at line 502 of file model_based_planning_context.cpp.

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◆ getSpecification()

const ModelBasedPlanningContextSpecification & ompl_interface::ModelBasedPlanningContext::getSpecification ( ) const

inline

Definition at line 103 of file model_based_planning_context.hpp.

◆ getSpecificationConfig()

const std::map< std::string, std::string > & ompl_interface::ModelBasedPlanningContext::getSpecificationConfig ( ) const

inline

Definition at line 108 of file model_based_planning_context.hpp.

◆ interpolateSolution()

void ompl_interface::ModelBasedPlanningContext::interpolateSolution ( )

Definition at line 463 of file model_based_planning_context.cpp.

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◆ loadConstraintApproximations()

bool ompl_interface::ModelBasedPlanningContext::loadConstraintApproximations ( const rclcpp::Node::SharedPtr & node )

Look up param server 'constraint_approximations' and use its value as the path to load constraint approximations to.

Definition at line 1056 of file model_based_planning_context.cpp.

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◆ logPlannerStatus()

int32_t ompl_interface::ModelBasedPlanningContext::logPlannerStatus ( const og::SimpleSetupPtr & ompl_simple_setup )

protected

Convert OMPL PlannerStatus to moveit_msgs::msg::MoveItErrorCode.

Definition at line 974 of file model_based_planning_context.cpp.

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◆ postSolve()

void ompl_interface::ModelBasedPlanningContext::postSolve ( )

protected

Definition at line 756 of file model_based_planning_context.cpp.

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◆ preSolve()

void ompl_interface::ModelBasedPlanningContext::preSolve ( )

protected

Definition at line 743 of file model_based_planning_context.cpp.

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◆ registerTerminationCondition()

void ompl_interface::ModelBasedPlanningContext::registerTerminationCondition ( const ob::PlannerTerminationCondition & ptc )

protected

Definition at line 962 of file model_based_planning_context.cpp.

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◆ saveConstraintApproximations()

bool ompl_interface::ModelBasedPlanningContext::saveConstraintApproximations ( const rclcpp::Node::SharedPtr & node )

Look up param server 'constraint_approximations' and use its value as the path to save constraint approximations to.

Definition at line 1044 of file model_based_planning_context.cpp.

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◆ setCompleteInitialState()

void ompl_interface::ModelBasedPlanningContext::setCompleteInitialState ( const moveit::core::RobotState & complete_initial_robot_state )

Definition at line 622 of file model_based_planning_context.cpp.

◆ setConstraintSamplerManager()

void ompl_interface::ModelBasedPlanningContext::setConstraintSamplerManager ( const constraint_samplers::ConstraintSamplerManagerPtr & csm )

inline

Definition at line 239 of file model_based_planning_context.hpp.

◆ setConstraintsApproximations()

void ompl_interface::ModelBasedPlanningContext::setConstraintsApproximations ( const ConstraintsLibraryPtr & constraints_library )

inline

Definition at line 258 of file model_based_planning_context.hpp.

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◆ setGoalConstraints()

bool ompl_interface::ModelBasedPlanningContext::setGoalConstraints	(	const std::vector< moveit_msgs::msg::Constraints > &	goal_constraints,
		const moveit_msgs::msg::Constraints &	path_constraints,
		moveit_msgs::msg::MoveItErrorCodes *	error )

Definition at line 665 of file model_based_planning_context.cpp.

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◆ setHybridize()

void ompl_interface::ModelBasedPlanningContext::setHybridize ( bool flag )

inline

Definition at line 288 of file model_based_planning_context.hpp.

◆ setInterpolation()

void ompl_interface::ModelBasedPlanningContext::setInterpolation ( bool flag )

inline

Definition at line 283 of file model_based_planning_context.hpp.

◆ setMaximumGoalSamples()

void ompl_interface::ModelBasedPlanningContext::setMaximumGoalSamples ( unsigned int max_goal_samples )

inline

Definition at line 194 of file model_based_planning_context.hpp.

◆ setMaximumGoalSamplingAttempts()

void ompl_interface::ModelBasedPlanningContext::setMaximumGoalSamplingAttempts ( unsigned int max_goal_sampling_attempts )

inline

Definition at line 182 of file model_based_planning_context.hpp.

◆ setMaximumPlanningThreads()

void ompl_interface::ModelBasedPlanningContext::setMaximumPlanningThreads ( unsigned int max_planning_threads )

inline

Definition at line 206 of file model_based_planning_context.hpp.

◆ setMaximumSolutionSegmentLength()

void ompl_interface::ModelBasedPlanningContext::setMaximumSolutionSegmentLength ( double mssl )

inline

Definition at line 218 of file model_based_planning_context.hpp.

◆ setMaximumStateSamplingAttempts()

void ompl_interface::ModelBasedPlanningContext::setMaximumStateSamplingAttempts ( unsigned int max_state_sampling_attempts )

inline

Definition at line 170 of file model_based_planning_context.hpp.

◆ setMinimumWaypointCount()

void ompl_interface::ModelBasedPlanningContext::setMinimumWaypointCount ( unsigned int mwc )

inline

Get the minimum number of waypoints along the solution path.

Definition at line 229 of file model_based_planning_context.hpp.

◆ setPathConstraints()

bool ompl_interface::ModelBasedPlanningContext::setPathConstraints	(	const moveit_msgs::msg::Constraints &	path_constraints,
		moveit_msgs::msg::MoveItErrorCodes *	error )

Definition at line 654 of file model_based_planning_context.cpp.

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◆ setPlanningVolume()

void ompl_interface::ModelBasedPlanningContext::setPlanningVolume ( const moveit_msgs::msg::WorkspaceParameters & wparams )

Definition at line 434 of file model_based_planning_context.cpp.

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◆ setProjectionEvaluator()

void ompl_interface::ModelBasedPlanningContext::setProjectionEvaluator ( const std::string & peval )

Definition at line 155 of file model_based_planning_context.cpp.

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◆ setSpecificationConfig()

void ompl_interface::ModelBasedPlanningContext::setSpecificationConfig ( const std::map< std::string, std::string > & config )

inline

Definition at line 113 of file model_based_planning_context.hpp.

◆ setVerboseStateValidityChecks()

void ompl_interface::ModelBasedPlanningContext::setVerboseStateValidityChecks ( bool flag )

Definition at line 512 of file model_based_planning_context.cpp.

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◆ simplifySolution()

void ompl_interface::ModelBasedPlanningContext::simplifySolution ( double timeout )

Definition at line 453 of file model_based_planning_context.cpp.

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◆ simplifySolutions() [1/2]

bool ompl_interface::ModelBasedPlanningContext::simplifySolutions ( ) const

inline

Definition at line 273 of file model_based_planning_context.hpp.

◆ simplifySolutions() [2/2]

void ompl_interface::ModelBasedPlanningContext::simplifySolutions ( bool flag )

inline

Definition at line 278 of file model_based_planning_context.hpp.

◆ solve() [1/3]

const moveit_msgs::msg::MoveItErrorCodes ompl_interface::ModelBasedPlanningContext::solve	(	double	timeout,
		unsigned int	count )

Definition at line 849 of file model_based_planning_context.cpp.

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◆ solve() [2/3]

void ompl_interface::ModelBasedPlanningContext::solve ( planning_interface::MotionPlanDetailedResponse & res )

overridevirtual

Solve the motion planning problem and store the detailed result in res. This function should not clear data structures before computing. The constructor and clear() do that.

Implements planning_interface::PlanningContext.

Definition at line 803 of file model_based_planning_context.cpp.

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◆ solve() [3/3]

void ompl_interface::ModelBasedPlanningContext::solve ( planning_interface::MotionPlanResponse & res )

overridevirtual

Solve the motion planning problem and store the result in res. This function should not clear data structures before computing. The constructor and clear() do that.

Implements planning_interface::PlanningContext.

Definition at line 773 of file model_based_planning_context.cpp.

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◆ startSampling()

void ompl_interface::ModelBasedPlanningContext::startSampling ( )

protected

Definition at line 715 of file model_based_planning_context.cpp.

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◆ stopSampling()

void ompl_interface::ModelBasedPlanningContext::stopSampling ( )

protected

Definition at line 729 of file model_based_planning_context.cpp.

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◆ terminate()

bool ompl_interface::ModelBasedPlanningContext::terminate ( )

overridevirtual

If solve() is running, terminate the computation. Return false if termination not possible. No-op if solve() is not running (returns true).

Implements planning_interface::PlanningContext.

Definition at line 1034 of file model_based_planning_context.cpp.

◆ unregisterTerminationCondition()

void ompl_interface::ModelBasedPlanningContext::unregisterTerminationCondition ( )

protected

Definition at line 968 of file model_based_planning_context.cpp.

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◆ useConfig()

void ompl_interface::ModelBasedPlanningContext::useConfig ( )

protectedvirtual

Definition at line 287 of file model_based_planning_context.cpp.

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Member Data Documentation

◆ complete_initial_robot_state_

moveit::core::RobotState ompl_interface::ModelBasedPlanningContext::complete_initial_robot_state_

protected

Definition at line 396 of file model_based_planning_context.hpp.

◆ constraints_library_

ConstraintsLibraryPtr ompl_interface::ModelBasedPlanningContext::constraints_library_

protected

Definition at line 447 of file model_based_planning_context.hpp.

◆ goal_constraints_

std::vector<kinematic_constraints::KinematicConstraintSetPtr> ompl_interface::ModelBasedPlanningContext::goal_constraints_

protected

Definition at line 411 of file model_based_planning_context.hpp.

◆ hybridize_

bool ompl_interface::ModelBasedPlanningContext::hybridize_

protected

Definition at line 455 of file model_based_planning_context.hpp.

◆ interpolate_

bool ompl_interface::ModelBasedPlanningContext::interpolate_

protected

Definition at line 452 of file model_based_planning_context.hpp.

◆ last_plan_time_

double ompl_interface::ModelBasedPlanningContext::last_plan_time_

protected

the time spent computing the last plan

Definition at line 417 of file model_based_planning_context.hpp.

◆ last_simplify_time_

double ompl_interface::ModelBasedPlanningContext::last_simplify_time_

protected

the time spent simplifying the last plan

Definition at line 420 of file model_based_planning_context.hpp.

◆ max_goal_samples_

unsigned int ompl_interface::ModelBasedPlanningContext::max_goal_samples_

protected

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

Definition at line 424 of file model_based_planning_context.hpp.

◆ max_goal_sampling_attempts_

unsigned int ompl_interface::ModelBasedPlanningContext::max_goal_sampling_attempts_

protected

maximum number of attempts to be made at sampling a goal states

Definition at line 431 of file model_based_planning_context.hpp.

◆ max_planning_threads_

unsigned int ompl_interface::ModelBasedPlanningContext::max_planning_threads_

protected

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

Definition at line 434 of file model_based_planning_context.hpp.

◆ max_solution_segment_length_

double ompl_interface::ModelBasedPlanningContext::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 438 of file model_based_planning_context.hpp.

◆ max_state_sampling_attempts_

unsigned int ompl_interface::ModelBasedPlanningContext::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 428 of file model_based_planning_context.hpp.

◆ minimum_waypoint_count_

unsigned int ompl_interface::ModelBasedPlanningContext::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 442 of file model_based_planning_context.hpp.

◆ multi_query_planning_enabled_

bool ompl_interface::ModelBasedPlanningContext::multi_query_planning_enabled_

protected

when false, clears planners before running solve()

Definition at line 445 of file model_based_planning_context.hpp.

◆ ompl_benchmark_

ot::Benchmark ompl_interface::ModelBasedPlanningContext::ompl_benchmark_

protected

the OMPL tool for benchmarking planners

Definition at line 402 of file model_based_planning_context.hpp.

◆ ompl_parallel_plan_

ot::ParallelPlan ompl_interface::ModelBasedPlanningContext::ompl_parallel_plan_

protected

tool used to compute multiple plans in parallel; this uses the problem definition maintained by ompl_simple_setup_

Definition at line 405 of file model_based_planning_context.hpp.

◆ ompl_simple_setup_

og::SimpleSetupPtr ompl_interface::ModelBasedPlanningContext::ompl_simple_setup_

protected

the OMPL planning context; this contains the problem definition and the planner used

Definition at line 399 of file model_based_planning_context.hpp.

◆ path_constraints_

kinematic_constraints::KinematicConstraintSetPtr ompl_interface::ModelBasedPlanningContext::path_constraints_

protected

Definition at line 409 of file model_based_planning_context.hpp.

◆ path_constraints_msg_

moveit_msgs::msg::Constraints ompl_interface::ModelBasedPlanningContext::path_constraints_msg_

protected

Definition at line 410 of file model_based_planning_context.hpp.

◆ ptc_

const ob::PlannerTerminationCondition* ompl_interface::ModelBasedPlanningContext::ptc_

protected

Definition at line 413 of file model_based_planning_context.hpp.

◆ ptc_lock_

std::mutex ompl_interface::ModelBasedPlanningContext::ptc_lock_

protected

Definition at line 414 of file model_based_planning_context.hpp.

◆ simplify_solutions_

bool ompl_interface::ModelBasedPlanningContext::simplify_solutions_

protected

Definition at line 449 of file model_based_planning_context.hpp.

◆ space_signature_

std::vector<int> ompl_interface::ModelBasedPlanningContext::space_signature_

protected

Definition at line 407 of file model_based_planning_context.hpp.

◆ spec_

ModelBasedPlanningContextSpecification ompl_interface::ModelBasedPlanningContext::spec_

protected

Definition at line 394 of file model_based_planning_context.hpp.

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

moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.hpp
moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ModelBasedPlanningContext()

◆ ~ModelBasedPlanningContext()

Member Function Documentation

◆ allocPathConstrainedSampler()

◆ benchmark()

◆ clear()

◆ configure()

◆ constructGoal()

◆ constructPlannerTerminationCondition()

◆ convertPath()

◆ getCompleteInitialRobotState()

◆ getConstraintSamplerManager()

◆ getConstraintsLibrary()

◆ getConstraintsLibraryNonConst()

◆ getJointModelGroup()

◆ getLastPlanTime()

◆ getLastSimplifyTime()

◆ getMaximumGoalSamples()

◆ getMaximumGoalSamplingAttempts()

◆ getMaximumPlanningThreads()

◆ getMaximumSolutionSegmentLength()

◆ getMaximumStateSamplingAttempts()

◆ getMinimumWaypointCount()

◆ getOMPLBenchmark() [1/2]

◆ getOMPLBenchmark() [2/2]

◆ getOMPLSimpleSetup() [1/2]

◆ getOMPLSimpleSetup() [2/2]

◆ getOMPLStateSpace()

◆ getPathConstraints()

◆ getProjectionEvaluator()

◆ getRobotModel()

◆ getSolutionPath()

◆ getSpecification()

◆ getSpecificationConfig()

◆ interpolateSolution()

◆ loadConstraintApproximations()

◆ logPlannerStatus()

◆ postSolve()

◆ preSolve()

◆ registerTerminationCondition()

◆ saveConstraintApproximations()

◆ setCompleteInitialState()

◆ setConstraintSamplerManager()

◆ setConstraintsApproximations()

◆ setGoalConstraints()

◆ setHybridize()

◆ setInterpolation()

◆ setMaximumGoalSamples()

◆ setMaximumGoalSamplingAttempts()

◆ setMaximumPlanningThreads()

◆ setMaximumSolutionSegmentLength()

◆ setMaximumStateSamplingAttempts()

◆ setMinimumWaypointCount()

◆ setPathConstraints()

◆ setPlanningVolume()

◆ setProjectionEvaluator()

◆ setSpecificationConfig()

◆ setVerboseStateValidityChecks()

◆ simplifySolution()

◆ simplifySolutions() [1/2]

◆ simplifySolutions() [2/2]

◆ solve() [1/3]

◆ solve() [2/3]

◆ solve() [3/3]

◆ startSampling()

◆ stopSampling()

◆ terminate()

◆ unregisterTerminationCondition()

◆ useConfig()

Member Data Documentation

◆ complete_initial_robot_state_

◆ constraints_library_

◆ goal_constraints_

◆ hybridize_

◆ interpolate_