#include <model_based_planning_context.h>

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 87 of file model_based_planning_context.h.

Constructor & Destructor Documentation

◆ ModelBasedPlanningContext()

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

Definition at line 81 of file model_based_planning_context.cpp.

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◆ ~ModelBasedPlanningContext()

ompl_interface::ModelBasedPlanningContext::~ModelBasedPlanningContext ( )

inlineoverride

Definition at line 92 of file model_based_planning_context.h.

Member Function Documentation

◆ allocPathConstrainedSampler()

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

protectedvirtual

Definition at line 235 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 697 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 627 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 109 of file model_based_planning_context.cpp.

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◆ constructGoal()

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

protectedvirtual

Definition at line 519 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 553 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 490 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 127 of file model_based_planning_context.h.

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◆ getConstraintSamplerManager()

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

inline

Definition at line 233 of file model_based_planning_context.h.

◆ getConstraintsLibrary()

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

inline

Definition at line 267 of file model_based_planning_context.h.

◆ getConstraintsLibraryNonConst()

ConstraintsLibraryPtr ompl_interface::ModelBasedPlanningContext::getConstraintsLibraryNonConst ( )

inline

Definition at line 262 of file model_based_planning_context.h.

◆ getJointModelGroup()

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

inline

Definition at line 122 of file model_based_planning_context.h.

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◆ getLastPlanTime()

double ompl_interface::ModelBasedPlanningContext::getLastPlanTime ( ) const

inline

Definition at line 307 of file model_based_planning_context.h.

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◆ getLastSimplifyTime()

double ompl_interface::ModelBasedPlanningContext::getLastSimplifyTime ( ) const

inline

Definition at line 313 of file model_based_planning_context.h.

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◆ getMaximumGoalSamples()

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

inline

Definition at line 187 of file model_based_planning_context.h.

◆ getMaximumGoalSamplingAttempts()

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

inline

Definition at line 175 of file model_based_planning_context.h.

◆ getMaximumPlanningThreads()

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

inline

Definition at line 199 of file model_based_planning_context.h.

◆ getMaximumSolutionSegmentLength()

double ompl_interface::ModelBasedPlanningContext::getMaximumSolutionSegmentLength ( ) const

inline

Definition at line 211 of file model_based_planning_context.h.

◆ getMaximumStateSamplingAttempts()

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

inline

Definition at line 163 of file model_based_planning_context.h.

◆ getMinimumWaypointCount()

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

inline

Definition at line 222 of file model_based_planning_context.h.

◆ getOMPLBenchmark() [1/2]

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

inline

Definition at line 152 of file model_based_planning_context.h.

◆ getOMPLBenchmark() [2/2]

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

inline

Definition at line 147 of file model_based_planning_context.h.

◆ getOMPLSimpleSetup() [1/2]

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

inline

Definition at line 142 of file model_based_planning_context.h.

◆ getOMPLSimpleSetup() [2/2]

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

inline

Definition at line 137 of file model_based_planning_context.h.

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◆ getOMPLStateSpace()

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

inline

Definition at line 132 of file model_based_planning_context.h.

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◆ getPathConstraints()

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

inline

Definition at line 157 of file model_based_planning_context.h.

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◆ getProjectionEvaluator()

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

protectedvirtual

Definition at line 166 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 117 of file model_based_planning_context.h.

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◆ getSolutionPath()

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

Definition at line 501 of file model_based_planning_context.cpp.

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◆ getSpecification()

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

inline

Definition at line 102 of file model_based_planning_context.h.

◆ getSpecificationConfig()

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

inline

Definition at line 107 of file model_based_planning_context.h.

◆ interpolateSolution()

void ompl_interface::ModelBasedPlanningContext::interpolateSolution ( )

Definition at line 462 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 1055 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 973 of file model_based_planning_context.cpp.

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◆ postSolve()

void ompl_interface::ModelBasedPlanningContext::postSolve ( )

protected

Definition at line 755 of file model_based_planning_context.cpp.

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◆ preSolve()

void ompl_interface::ModelBasedPlanningContext::preSolve ( )

protected

Definition at line 742 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 961 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 1043 of file model_based_planning_context.cpp.

◆ setCompleteInitialState()

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

Definition at line 621 of file model_based_planning_context.cpp.

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◆ setConstraintSamplerManager()

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

inline

Definition at line 238 of file model_based_planning_context.h.

◆ setConstraintsApproximations()

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

inline

Definition at line 257 of file model_based_planning_context.h.

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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 664 of file model_based_planning_context.cpp.

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◆ setHybridize()

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

inline

Definition at line 287 of file model_based_planning_context.h.

◆ setInterpolation()

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

inline

Definition at line 282 of file model_based_planning_context.h.

◆ setMaximumGoalSamples()

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

inline

Definition at line 193 of file model_based_planning_context.h.

◆ setMaximumGoalSamplingAttempts()

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

inline

Definition at line 181 of file model_based_planning_context.h.

◆ setMaximumPlanningThreads()

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

inline

Definition at line 205 of file model_based_planning_context.h.

◆ setMaximumSolutionSegmentLength()

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

inline

Definition at line 217 of file model_based_planning_context.h.

◆ setMaximumStateSamplingAttempts()

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

inline

Definition at line 169 of file model_based_planning_context.h.

◆ setMinimumWaypointCount()

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

inline

Get the minimum number of waypoints along the solution path.

Definition at line 228 of file model_based_planning_context.h.

◆ setPathConstraints()

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

Definition at line 653 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 433 of file model_based_planning_context.cpp.

◆ setProjectionEvaluator()

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

Definition at line 154 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 112 of file model_based_planning_context.h.

◆ setVerboseStateValidityChecks()

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

Definition at line 511 of file model_based_planning_context.cpp.

◆ simplifySolution()

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

Definition at line 452 of file model_based_planning_context.cpp.

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◆ simplifySolutions() [1/2]

bool ompl_interface::ModelBasedPlanningContext::simplifySolutions ( ) const

inline

Definition at line 272 of file model_based_planning_context.h.

◆ simplifySolutions() [2/2]

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

inline

Definition at line 277 of file model_based_planning_context.h.

◆ solve() [1/3]

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

Definition at line 848 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 802 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 772 of file model_based_planning_context.cpp.

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◆ startSampling()

void ompl_interface::ModelBasedPlanningContext::startSampling ( )

protected

Definition at line 714 of file model_based_planning_context.cpp.

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◆ stopSampling()

void ompl_interface::ModelBasedPlanningContext::stopSampling ( )

protected

Definition at line 728 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 1033 of file model_based_planning_context.cpp.

◆ unregisterTerminationCondition()

void ompl_interface::ModelBasedPlanningContext::unregisterTerminationCondition ( )

protected

Definition at line 967 of file model_based_planning_context.cpp.

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◆ useConfig()

void ompl_interface::ModelBasedPlanningContext::useConfig ( )

protectedvirtual

Definition at line 286 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 395 of file model_based_planning_context.h.

◆ constraints_library_

ConstraintsLibraryPtr ompl_interface::ModelBasedPlanningContext::constraints_library_

protected

Definition at line 446 of file model_based_planning_context.h.

◆ goal_constraints_

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

protected

Definition at line 410 of file model_based_planning_context.h.

◆ hybridize_

bool ompl_interface::ModelBasedPlanningContext::hybridize_

protected

Definition at line 454 of file model_based_planning_context.h.

◆ interpolate_

bool ompl_interface::ModelBasedPlanningContext::interpolate_

protected

Definition at line 451 of file model_based_planning_context.h.

◆ last_plan_time_

double ompl_interface::ModelBasedPlanningContext::last_plan_time_

protected

the time spent computing the last plan

Definition at line 416 of file model_based_planning_context.h.

◆ last_simplify_time_

double ompl_interface::ModelBasedPlanningContext::last_simplify_time_

protected

the time spent simplifying the last plan

Definition at line 419 of file model_based_planning_context.h.

◆ 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 423 of file model_based_planning_context.h.

◆ 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 430 of file model_based_planning_context.h.

◆ 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 433 of file model_based_planning_context.h.

◆ 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 437 of file model_based_planning_context.h.

◆ 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 427 of file model_based_planning_context.h.

◆ 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 441 of file model_based_planning_context.h.

◆ multi_query_planning_enabled_

bool ompl_interface::ModelBasedPlanningContext::multi_query_planning_enabled_

protected

when false, clears planners before running solve()

Definition at line 444 of file model_based_planning_context.h.

◆ ompl_benchmark_

ot::Benchmark ompl_interface::ModelBasedPlanningContext::ompl_benchmark_

protected

the OMPL tool for benchmarking planners

Definition at line 401 of file model_based_planning_context.h.

◆ 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 404 of file model_based_planning_context.h.

◆ 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 398 of file model_based_planning_context.h.

◆ path_constraints_

kinematic_constraints::KinematicConstraintSetPtr ompl_interface::ModelBasedPlanningContext::path_constraints_

protected

Definition at line 408 of file model_based_planning_context.h.

◆ path_constraints_msg_

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

protected

Definition at line 409 of file model_based_planning_context.h.

◆ ptc_

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

protected

Definition at line 412 of file model_based_planning_context.h.

◆ ptc_lock_

std::mutex ompl_interface::ModelBasedPlanningContext::ptc_lock_

protected

Definition at line 413 of file model_based_planning_context.h.

◆ simplify_solutions_

bool ompl_interface::ModelBasedPlanningContext::simplify_solutions_

protected

Definition at line 448 of file model_based_planning_context.h.

◆ space_signature_

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

protected

Definition at line 406 of file model_based_planning_context.h.

◆ spec_

ModelBasedPlanningContextSpecification ompl_interface::ModelBasedPlanningContext::spec_

protected

Definition at line 393 of file model_based_planning_context.h.

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

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