MoveIt Plugin for Planning with Standard Robot Commands This planner is dedicated to return a instance of PlanningContext that corresponds to the requested motion command set as planner_id in the MotionPlanRequest). It can be easily extended with additional commands by creating a class inheriting from PlanningContextLoader. More...

#include <pilz_industrial_motion_planner.h>

Inheritance diagram for pilz_industrial_motion_planner::CommandPlanner:

[legend]

Collaboration diagram for pilz_industrial_motion_planner::CommandPlanner:

[legend]

Public Member Functions
	~CommandPlanner () override

bool	initialize (const moveit::core::RobotModelConstPtr &model, const rclcpp::Node::SharedPtr &node, const std::string &ns) override
	Initializes the planner Upon initialization this planner will look for plugins implementing pilz_industrial_motion_planner::PlanningContextLoader.

std::string	getDescription () const override
	Description of the planner.

void	getPlanningAlgorithms (std::vector< std::string > &algs) const override
	Returns the available planning commands.

planning_interface::PlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, moveit_msgs::msg::MoveItErrorCodes &error_code) const override
	Returns a PlanningContext that can be used to solve(calculate) the trajectory that corresponds to command given in motion request as planner_id.

bool	canServiceRequest (const planning_interface::MotionPlanRequest &req) const override
	Checks if the request can be handled.

void	registerContextLoader (const pilz_industrial_motion_planner::PlanningContextLoaderPtr &planning_context_loader)
	Register a PlanningContextLoader to be used by the CommandPlanner.

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.

virtual void	setPlannerConfigurations (const PlannerConfigurationMap &pcs)
	Specify the settings to be used for specific algorithms.

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

MoveIt Plugin for Planning with Standard Robot Commands This planner is dedicated to return a instance of PlanningContext that corresponds to the requested motion command set as planner_id in the MotionPlanRequest). It can be easily extended with additional commands by creating a class inheriting from PlanningContextLoader.

Definition at line 60 of file pilz_industrial_motion_planner.h.

Constructor & Destructor Documentation

◆ ~CommandPlanner()

pilz_industrial_motion_planner::CommandPlanner::~CommandPlanner ( )

inlineoverride

Definition at line 63 of file pilz_industrial_motion_planner.h.

Member Function Documentation

◆ canServiceRequest()

bool pilz_industrial_motion_planner::CommandPlanner::canServiceRequest ( const planning_interface::MotionPlanRequest & req ) const

overridevirtual

Checks if the request can be handled.

Parameters

motion request containing the planning_id that corresponds to the motion command

Returns: true if the request can be handled

Implements planning_interface::PlannerManager.

Definition at line 165 of file pilz_industrial_motion_planner.cpp.

Here is the caller graph for this function:

◆ getDescription()

std::string pilz_industrial_motion_planner::CommandPlanner::getDescription ( ) const

overridevirtual

Description of the planner.

Implements planning_interface::PlannerManager.

Definition at line 116 of file pilz_industrial_motion_planner.cpp.

◆ getPlanningAlgorithms()

void pilz_industrial_motion_planner::CommandPlanner::getPlanningAlgorithms ( std::vector< std::string > & algs ) const

overridevirtual

Returns the available planning commands.

Parameters

list	with the planning algorithms

Note: behined each command is a pilz_industrial_motion_planner::PlanningContextLoader loaded as plugin

Reimplemented from planning_interface::PlannerManager.

Definition at line 121 of file pilz_industrial_motion_planner.cpp.

◆ getPlanningContext()

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

overridevirtual

Returns a PlanningContext that can be used to solve(calculate) the trajectory that corresponds to command given in motion request as planner_id.

Parameters

planning_scene
req
error_code

Returns

Implements planning_interface::PlannerManager.

Definition at line 132 of file pilz_industrial_motion_planner.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ initialize()

bool pilz_industrial_motion_planner::CommandPlanner::initialize	(	const moveit::core::RobotModelConstPtr &	model,
		const rclcpp::Node::SharedPtr &	node,
		const std::string &	ns
	)

overridevirtual

Initializes the planner Upon initialization this planner will look for plugins implementing pilz_industrial_motion_planner::PlanningContextLoader.

Parameters

model	The robot model
node	The node
ns	The namespace

Returns: true on success, false otherwise

Reimplemented from planning_interface::PlannerManager.

Definition at line 64 of file pilz_industrial_motion_planner.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ registerContextLoader()

void pilz_industrial_motion_planner::CommandPlanner::registerContextLoader ( const pilz_industrial_motion_planner::PlanningContextLoaderPtr & planning_context_loader )

Register a PlanningContextLoader to be used by the CommandPlanner.

Parameters

planning_context_loader

Exceptions

ContextLoaderRegistrationException if a loader with the same algorithm name is already registered

Definition at line 205 of file pilz_industrial_motion_planner.cpp.

Here is the caller graph for this function:

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

moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/pilz_industrial_motion_planner.h
moveit_planners/pilz_industrial_motion_planner/src/pilz_industrial_motion_planner.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ~CommandPlanner()

Member Function Documentation

◆ canServiceRequest()

◆ getDescription()

◆ getPlanningAlgorithms()

◆ getPlanningContext()

◆ initialize()

◆ registerContextLoader()