Inheritance diagram for ompl_interface::OMPLPlannerManager:

Collaboration diagram for ompl_interface::OMPLPlannerManager:

Public Member Functions
	OMPLPlannerManager ()

bool	initialize (const moveit::core::RobotModelConstPtr &model, const rclcpp::Node::SharedPtr &node, const std::string &parameter_namespace) override

bool	canServiceRequest (const moveit_msgs::msg::MotionPlanRequest &req) const override
	Determine whether this plugin instance is able to represent this planning request.

std::string	getDescription () const override
	Get a short string that identifies the planning interface.

void	getPlanningAlgorithms (std::vector< std::string > &algs) const override
	Get the names of the known planning algorithms (values that can be filled as planner_id in the planning request)

void	setPlannerConfigurations (const planning_interface::PlannerConfigurationMap &pconfig) override
	Specify the settings to be used for specific algorithms.

planning_interface::PlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, moveit_msgs::msg::MoveItErrorCodes &error_code) const override
	Construct a planning context given the current scene and a planning request. If a problem is encountered, error code is set and empty ptr is returned. The returned motion planner context is clean – the motion planner will start from scratch every time a context is constructed.

Public Member Functions inherited from planning_interface::PlannerManager
	PlannerManager ()

virtual	~PlannerManager ()

PlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const MotionPlanRequest &req) const
	Calls the function above but ignores the error_code.

const PlannerConfigurationMap &	getPlannerConfigurations () const
	Get the settings for a specific algorithm.

void	terminate () const
	Request termination, if a solve() function is currently computing plans.

Additional Inherited Members
Protected Attributes inherited from planning_interface::PlannerManager
PlannerConfigurationMap	config_settings_
	All the existing planning configurations. The name of the configuration is the key of the map. This name can be of the form "group_name[config_name]" if there are particular configurations specified for a group, or of the form "group_name" if default settings are to be used.

Detailed Description

Definition at line 54 of file ompl_planner_manager.cpp.

Constructor & Destructor Documentation

◆ OMPLPlannerManager()

ompl_interface::OMPLPlannerManager::OMPLPlannerManager ( )

inline

Definition at line 57 of file ompl_planner_manager.cpp.

Member Function Documentation

◆ canServiceRequest()

bool ompl_interface::OMPLPlannerManager::canServiceRequest ( const moveit_msgs::msg::MotionPlanRequest & req ) const

inlineoverridevirtual

Determine whether this plugin instance is able to represent this planning request.

Implements planning_interface::PlannerManager.

Definition at line 99 of file ompl_planner_manager.cpp.

◆ getDescription()

std::string ompl_interface::OMPLPlannerManager::getDescription ( ) const

inlineoverridevirtual

Get a short string that identifies the planning interface.

Implements planning_interface::PlannerManager.

Definition at line 104 of file ompl_planner_manager.cpp.

◆ getPlanningAlgorithms()

void ompl_interface::OMPLPlannerManager::getPlanningAlgorithms ( std::vector< std::string > & algs ) const

inlineoverridevirtual

Get the names of the known planning algorithms (values that can be filled as planner_id in the planning request)

Reimplemented from planning_interface::PlannerManager.

Definition at line 109 of file ompl_planner_manager.cpp.

◆ getPlanningContext()

planning_interface::PlanningContextPtr ompl_interface::OMPLPlannerManager::getPlanningContext	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const planning_interface::MotionPlanRequest &	req,
		moveit_msgs::msg::MoveItErrorCodes &	error_code
	)		const

inlineoverridevirtual

Construct a planning context given the current scene and a planning request. If a problem is encountered, error code is set and empty ptr is returned. The returned motion planner context is clean – the motion planner will start from scratch every time a context is constructed.

Parameters

planning_scene	A const planning scene to use for planning
req	The representation of the planning request
error_code	This is where the error is set if constructing the planning context fails

Implements planning_interface::PlannerManager.

Definition at line 127 of file ompl_planner_manager.cpp.

◆ initialize()

bool ompl_interface::OMPLPlannerManager::initialize	(	const moveit::core::RobotModelConstPtr &	model,
		const rclcpp::Node::SharedPtr &	node,
		const std::string &	parameter_namespace
	)

inlineoverridevirtual

Initialize a planner. This function will be called after the construction of the plugin, before any other call is made. It is assumed that motion plans will be computed for the robot described by model and that any exposed ROS functionality or required ROS parameters are namespaced by parameter_namespace

Reimplemented from planning_interface::PlannerManager.

Definition at line 91 of file ompl_planner_manager.cpp.

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