Base class for a MoveIt planner. More...

#include <planning_interface.h>

Inheritance diagram for planning_interface::PlannerManager:

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Public Member Functions
	PlannerManager ()

virtual	~PlannerManager ()

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

virtual std::string	getDescription () const =0
	Get a short string that identifies the planning interface.

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

virtual PlanningContextPtr	getPlanningContext (const planning_scene::PlanningSceneConstPtr &planning_scene, const MotionPlanRequest &req, moveit_msgs::msg::MoveItErrorCodes &error_code) const =0
	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.

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

virtual bool	canServiceRequest (const MotionPlanRequest &req) const =0
	Determine whether this plugin instance is able to represent this planning request.

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.

Protected Attributes
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

Base class for a MoveIt planner.

Definition at line 148 of file planning_interface.h.

Constructor & Destructor Documentation

◆ PlannerManager()

planning_interface::PlannerManager::PlannerManager ( )

inline

Definition at line 151 of file planning_interface.h.

◆ ~PlannerManager()

virtual planning_interface::PlannerManager::~PlannerManager ( )

inlinevirtual

Definition at line 155 of file planning_interface.h.

Member Function Documentation

◆ canServiceRequest()

virtual bool planning_interface::PlannerManager::canServiceRequest ( const MotionPlanRequest & req ) const

pure virtual

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

Implemented in stomp_moveit::StompPlannerManager, ompl_interface::OMPLPlannerManager, chomp_interface::CHOMPPlannerManager, planning_pipeline_test::DummyPlannerManager, and pilz_industrial_motion_planner::CommandPlanner.

◆ getDescription()

std::string planning_interface::PlannerManager::getDescription ( ) const

pure virtual

Get a short string that identifies the planning interface.

Implemented in chomp_interface::CHOMPPlannerManager, ompl_interface::OMPLPlannerManager, pilz_industrial_motion_planner::CommandPlanner, stomp_moveit::StompPlannerManager, and planning_pipeline_test::DummyPlannerManager.

Definition at line 112 of file planning_interface.cpp.

◆ getPlannerConfigurations()

const PlannerConfigurationMap & planning_interface::PlannerManager::getPlannerConfigurations ( ) const

inline

Get the settings for a specific algorithm.

Definition at line 196 of file planning_interface.h.

◆ getPlanningAlgorithms()

void planning_interface::PlannerManager::getPlanningAlgorithms ( std::vector< std::string > & algs ) const

virtual

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

Reimplemented in chomp_interface::CHOMPPlannerManager, ompl_interface::OMPLPlannerManager, pilz_industrial_motion_planner::CommandPlanner, and stomp_moveit::StompPlannerManager.

Definition at line 124 of file planning_interface.cpp.

◆ getPlanningContext() [1/2]

PlanningContextPtr planning_interface::PlannerManager::getPlanningContext	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const MotionPlanRequest &	req
	)		const

Calls the function above but ignores the error_code.

Definition at line 117 of file planning_interface.cpp.

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◆ getPlanningContext() [2/2]

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

pure virtual

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

Implemented in planning_pipeline_test::DummyPlannerManager, stomp_moveit::StompPlannerManager, chomp_interface::CHOMPPlannerManager, ompl_interface::OMPLPlannerManager, and pilz_industrial_motion_planner::CommandPlanner.

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◆ initialize()

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

virtual

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 in chomp_interface::CHOMPPlannerManager, pilz_industrial_motion_planner::CommandPlanner, ompl_interface::OMPLPlannerManager, and stomp_moveit::StompPlannerManager.

Definition at line 106 of file planning_interface.cpp.

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◆ setPlannerConfigurations()

void planning_interface::PlannerManager::setPlannerConfigurations ( const PlannerConfigurationMap & pcs )

virtual

Specify the settings to be used for specific algorithms.

Reimplemented in stomp_moveit::StompPlannerManager, and ompl_interface::OMPLPlannerManager.

Definition at line 130 of file planning_interface.cpp.

◆ terminate()

void planning_interface::PlannerManager::terminate ( ) const

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

Definition at line 135 of file planning_interface.cpp.

Member Data Documentation

◆ config_settings_

PlannerConfigurationMap planning_interface::PlannerManager::config_settings_

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 210 of file planning_interface.h.

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

moveit_core/planning_interface/include/moveit/planning_interface/planning_interface.h
moveit_core/planning_interface/src/planning_interface.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PlannerManager()

◆ ~PlannerManager()

Member Function Documentation

◆ canServiceRequest()

◆ getDescription()

◆ getPlannerConfigurations()

◆ getPlanningAlgorithms()

◆ getPlanningContext() [1/2]

◆ getPlanningContext() [2/2]

◆ initialize()

◆ setPlannerConfigurations()

◆ terminate()

Member Data Documentation

◆ config_settings_