#include <planning_context_manager.h>

Collaboration diagram for ompl_interface::PlanningContextManager:

Classes
struct	CachedContexts

Public Member Functions
	PlanningContextManager (moveit::core::RobotModelConstPtr robot_model, constraint_samplers::ConstraintSamplerManagerPtr csm)

	~PlanningContextManager ()

void	setPlannerConfigurations (const planning_interface::PlannerConfigurationMap &pconfig)
	Specify configurations for the planners. More...

const planning_interface::PlannerConfigurationMap &	getPlannerConfigurations () const
	Return the previously set planner configurations. More...

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. More...

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

ModelBasedPlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, moveit_msgs::msg::MoveItErrorCodes &error_code, const rclcpp::Node::SharedPtr &node, bool use_constraints_approximations) const
	Returns a planning context to OMPLInterface, which in turn passes it to OMPLPlannerManager. More...

void	registerPlannerAllocator (const std::string &planner_id, const ConfiguredPlannerAllocator &pa)

void	registerStateSpaceFactory (const ModelBasedStateSpaceFactoryPtr &factory)

const std::map< std::string, ConfiguredPlannerAllocator > &	getRegisteredPlannerAllocators () const

const std::map< std::string, ModelBasedStateSpaceFactoryPtr > &	getRegisteredStateSpaceFactories () const

ConfiguredPlannerSelector	getPlannerSelector () const

Protected Member Functions
ConfiguredPlannerAllocator	plannerSelector (const std::string &planner) const

void	registerDefaultPlanners ()

void	registerDefaultStateSpaces ()

template<typename T >
void	registerPlannerAllocatorHelper (const std::string &planner_id)

ModelBasedPlanningContextPtr	getPlanningContext (const planning_interface::PlannerConfigurationSettings &config, const ModelBasedStateSpaceFactoryPtr &factory, const moveit_msgs::msg::MotionPlanRequest &req) const
	This is the function that constructs new planning contexts if no previous ones exist that are suitable. More...

const ModelBasedStateSpaceFactoryPtr &	getStateSpaceFactory (const std::string &factory_type) const

const ModelBasedStateSpaceFactoryPtr &	getStateSpaceFactory (const std::string &group_name, const moveit_msgs::msg::MotionPlanRequest &req) const

Protected Attributes
moveit::core::RobotModelConstPtr	robot_model_
	The kinematic model for which motion plans are computed. More...

constraint_samplers::ConstraintSamplerManagerPtr	constraint_sampler_manager_

std::map< std::string, ConfiguredPlannerAllocator >	known_planners_

std::map< std::string, ModelBasedStateSpaceFactoryPtr >	state_space_factories_

planning_interface::PlannerConfigurationMap	planner_configs_
	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. More...

unsigned int	max_goal_samples_
	maximum number of states to sample in the goal region for any planning request (when such sampling is possible) More...

unsigned int	max_state_sampling_attempts_

unsigned int	max_goal_sampling_attempts_
	maximum number of attempts to be made at sampling goals More...

unsigned int	max_planning_threads_
	when planning in parallel, this is the maximum number of threads to use at one time More...

double	max_solution_segment_length_

unsigned int	minimum_waypoint_count_

MultiQueryPlannerAllocator	planner_allocator_
	Multi-query planner allocator. More...

Detailed Description

Definition at line 79 of file planning_context_manager.h.

Constructor & Destructor Documentation

◆ PlanningContextManager()

ompl_interface::PlanningContextManager::PlanningContextManager	(	moveit::core::RobotModelConstPtr	robot_model,
		constraint_samplers::ConstraintSamplerManagerPtr	csm
	)

Definition at line 254 of file planning_context_manager.cpp.

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◆ ~PlanningContextManager()

ompl_interface::PlanningContextManager::~PlanningContextManager ( )

default

Member Function Documentation

◆ getMaximumGoalSamples()

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

inline

Definition at line 121 of file planning_context_manager.h.

◆ getMaximumGoalSamplingAttempts()

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

inline

Definition at line 109 of file planning_context_manager.h.

◆ getMaximumPlanningThreads()

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

inline

Definition at line 133 of file planning_context_manager.h.

◆ getMaximumSolutionSegmentLength()

double ompl_interface::PlanningContextManager::getMaximumSolutionSegmentLength ( ) const

inline

Definition at line 145 of file planning_context_manager.h.

◆ getMaximumStateSamplingAttempts()

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

inline

Definition at line 97 of file planning_context_manager.h.

◆ getMinimumWaypointCount()

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

inline

Definition at line 156 of file planning_context_manager.h.

◆ getPlannerConfigurations()

const planning_interface::PlannerConfigurationMap& ompl_interface::PlanningContextManager::getPlannerConfigurations ( ) const

inline

Return the previously set planner configurations.

Definition at line 91 of file planning_context_manager.h.

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◆ getPlannerSelector()

ConfiguredPlannerSelector ompl_interface::PlanningContextManager::getPlannerSelector ( ) const

Definition at line 331 of file planning_context_manager.cpp.

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◆ getPlanningContext() [1/2]

ModelBasedPlanningContextPtr ompl_interface::PlanningContextManager::getPlanningContext	(	const planning_interface::PlannerConfigurationSettings &	config,
		const ModelBasedStateSpaceFactoryPtr &	factory,
		const moveit_msgs::msg::MotionPlanRequest &	req
	)		const

protected

This is the function that constructs new planning contexts if no previous ones exist that are suitable.

Definition at line 342 of file planning_context_manager.cpp.

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◆ getPlanningContext() [2/2]

ModelBasedPlanningContextPtr ompl_interface::PlanningContextManager::getPlanningContext	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const planning_interface::MotionPlanRequest &	req,
		moveit_msgs::msg::MoveItErrorCodes &	error_code,
		const rclcpp::Node::SharedPtr &	node,
		bool	use_constraints_approximations
	)		const

Returns a planning context to OMPLInterface, which in turn passes it to OMPLPlannerManager.

This function checks the input and reads planner specific configurations. Then it creates the planning context with PlanningContextManager::createPlanningContext. Finally, it puts the context into a state appropriate for planning. This last step involves setting the start, goal, and state validity checker using the method ModelBasedPlanningContext::configure.

Definition at line 484 of file planning_context_manager.cpp.

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◆ getRegisteredPlannerAllocators()

const std::map<std::string, ConfiguredPlannerAllocator>& ompl_interface::PlanningContextManager::getRegisteredPlannerAllocators ( ) const

inline

Definition at line 197 of file planning_context_manager.h.

◆ getRegisteredStateSpaceFactories()

const std::map<std::string, ModelBasedStateSpaceFactoryPtr>& ompl_interface::PlanningContextManager::getRegisteredStateSpaceFactories ( ) const

inline

Definition at line 202 of file planning_context_manager.h.

◆ getRobotModel()

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

inline

Definition at line 167 of file planning_context_manager.h.

◆ getStateSpaceFactory() [1/2]

const ModelBasedStateSpaceFactoryPtr & ompl_interface::PlanningContextManager::getStateSpaceFactory ( const std::string & factory_type ) const

protected

Definition at line 437 of file planning_context_manager.cpp.

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◆ getStateSpaceFactory() [2/2]

const ModelBasedStateSpaceFactoryPtr & ompl_interface::PlanningContextManager::getStateSpaceFactory	(	const std::string &	group_name,
		const moveit_msgs::msg::MotionPlanRequest &	req
	)		const

protected

Definition at line 454 of file planning_context_manager.cpp.

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◆ plannerSelector()

ConfiguredPlannerAllocator ompl_interface::PlanningContextManager::plannerSelector ( const std::string & planner ) const

protected

Definition at line 272 of file planning_context_manager.cpp.

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◆ registerDefaultPlanners()

void ompl_interface::PlanningContextManager::registerDefaultPlanners ( )

protected

Definition at line 295 of file planning_context_manager.cpp.

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◆ registerDefaultStateSpaces()

void ompl_interface::PlanningContextManager::registerDefaultStateSpaces ( )

protected

Definition at line 324 of file planning_context_manager.cpp.

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◆ registerPlannerAllocator()

void ompl_interface::PlanningContextManager::registerPlannerAllocator	(	const std::string &	planner_id,
		const ConfiguredPlannerAllocator &	pa
	)

inline

Definition at line 187 of file planning_context_manager.h.

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◆ registerPlannerAllocatorHelper()

template<typename T >

void ompl_interface::PlanningContextManager::registerPlannerAllocatorHelper ( const std::string & planner_id )

protected

Definition at line 287 of file planning_context_manager.cpp.

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◆ registerStateSpaceFactory()

void ompl_interface::PlanningContextManager::registerStateSpaceFactory ( const ModelBasedStateSpaceFactoryPtr & factory )

inline

Definition at line 192 of file planning_context_manager.h.

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◆ setMaximumGoalSamples()

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

inline

Definition at line 127 of file planning_context_manager.h.

◆ setMaximumGoalSamplingAttempts()

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

inline

Definition at line 115 of file planning_context_manager.h.

◆ setMaximumPlanningThreads()

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

inline

Definition at line 139 of file planning_context_manager.h.

◆ setMaximumSolutionSegmentLength()

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

inline

Definition at line 151 of file planning_context_manager.h.

◆ setMaximumStateSamplingAttempts()

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

inline

Definition at line 103 of file planning_context_manager.h.

◆ setMinimumWaypointCount()

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

inline

Get the minimum number of waypoints along the solution path.

Definition at line 162 of file planning_context_manager.h.

◆ setPlannerConfigurations()

void ompl_interface::PlanningContextManager::setPlannerConfigurations ( const planning_interface::PlannerConfigurationMap & pconfig )

Specify configurations for the planners.

Parameters

pconfig Configurations for the different planners

Definition at line 336 of file planning_context_manager.cpp.

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Member Data Documentation

◆ constraint_sampler_manager_

constraint_samplers::ConstraintSamplerManagerPtr ompl_interface::PlanningContextManager::constraint_sampler_manager_

protected

Definition at line 230 of file planning_context_manager.h.

◆ known_planners_

std::map<std::string, ConfiguredPlannerAllocator> ompl_interface::PlanningContextManager::known_planners_

protected

Definition at line 232 of file planning_context_manager.h.

◆ max_goal_samples_

unsigned int ompl_interface::PlanningContextManager::max_goal_samples_

protected

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

Definition at line 243 of file planning_context_manager.h.

◆ max_goal_sampling_attempts_

unsigned int ompl_interface::PlanningContextManager::max_goal_sampling_attempts_

protected

maximum number of attempts to be made at sampling goals

Definition at line 250 of file planning_context_manager.h.

◆ max_planning_threads_

unsigned int ompl_interface::PlanningContextManager::max_planning_threads_

protected

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

Definition at line 253 of file planning_context_manager.h.

◆ max_solution_segment_length_

double ompl_interface::PlanningContextManager::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 257 of file planning_context_manager.h.

◆ max_state_sampling_attempts_

unsigned int ompl_interface::PlanningContextManager::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 247 of file planning_context_manager.h.

◆ minimum_waypoint_count_

unsigned int ompl_interface::PlanningContextManager::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 261 of file planning_context_manager.h.

◆ planner_allocator_

MultiQueryPlannerAllocator ompl_interface::PlanningContextManager::planner_allocator_

protected

Multi-query planner allocator.

Definition at line 264 of file planning_context_manager.h.

◆ planner_configs_

planning_interface::PlannerConfigurationMap ompl_interface::PlanningContextManager::planner_configs_

protected

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.

Definition at line 240 of file planning_context_manager.h.

◆ robot_model_

moveit::core::RobotModelConstPtr ompl_interface::PlanningContextManager::robot_model_

protected

The kinematic model for which motion plans are computed.

Definition at line 228 of file planning_context_manager.h.

◆ state_space_factories_

std::map<std::string, ModelBasedStateSpaceFactoryPtr> ompl_interface::PlanningContextManager::state_space_factories_

protected

Definition at line 233 of file planning_context_manager.h.

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

moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h
moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PlanningContextManager()

◆ ~PlanningContextManager()

Member Function Documentation

◆ getMaximumGoalSamples()

◆ getMaximumGoalSamplingAttempts()

◆ getMaximumPlanningThreads()

◆ getMaximumSolutionSegmentLength()

◆ getMaximumStateSamplingAttempts()

◆ getMinimumWaypointCount()

◆ getPlannerConfigurations()

◆ getPlannerSelector()

◆ getPlanningContext() [1/2]

◆ getPlanningContext() [2/2]

◆ getRegisteredPlannerAllocators()

◆ getRegisteredStateSpaceFactories()

◆ getRobotModel()

◆ getStateSpaceFactory() [1/2]

◆ getStateSpaceFactory() [2/2]

◆ plannerSelector()

◆ registerDefaultPlanners()

◆ registerDefaultStateSpaces()

◆ registerPlannerAllocator()

◆ registerPlannerAllocatorHelper()

◆ registerStateSpaceFactory()

◆ setMaximumGoalSamples()

◆ setMaximumGoalSamplingAttempts()

◆ setMaximumPlanningThreads()

◆ setMaximumSolutionSegmentLength()

◆ setMaximumStateSamplingAttempts()

◆ setMinimumWaypointCount()

◆ setPlannerConfigurations()

Member Data Documentation

◆ constraint_sampler_manager_

◆ known_planners_

◆ max_goal_samples_

◆ max_goal_sampling_attempts_

◆ max_planning_threads_

◆ max_solution_segment_length_

◆ max_state_sampling_attempts_

◆ minimum_waypoint_count_

◆ planner_allocator_

◆ planner_configs_

◆ robot_model_

◆ state_space_factories_