#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.

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

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 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.

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.

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.

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.

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

unsigned int	max_state_sampling_attempts_

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

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_

MultiQueryPlannerAllocator	planner_allocator_
	Multi-query planner allocator.

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.

◆ 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_