moveit::hybrid_planning Namespace Reference

Classes
class	GlobalPlannerComponent
class	GlobalPlannerInterface
class	MoveItPlanningPipeline
class	HybridPlanningManager
class	MoveItErrorCode
struct	ReactionResult
class	PlannerLogicInterface
class	ReplanInvalidatedTrajectory
class	SinglePlanExecution
class	ForwardTrajectory
class	LocalConstraintSolverInterface
class	LocalPlannerComponent
class	TrajectoryOperatorInterface
class	SimpleSampler

Enumerations
enum class	HybridPlanningEvent {   HYBRID_PLANNING_REQUEST_RECEIVED , GLOBAL_PLANNING_ACTION_SUCCESSFUL , GLOBAL_PLANNING_ACTION_ABORTED , GLOBAL_PLANNING_ACTION_CANCELED ,   GLOBAL_PLANNING_ACTION_REJECTED , GLOBAL_SOLUTION_AVAILABLE , LOCAL_PLANNING_ACTION_SUCCESSFUL , LOCAL_PLANNING_ACTION_ABORTED ,   LOCAL_PLANNING_ACTION_CANCELED , LOCAL_PLANNING_ACTION_REJECTED , UNDEFINED }
enum class	HybridPlanningAction {   DO_NOTHING , RETURN_HP_SUCCESS , RETURN_HP_FAILURE , SEND_GLOBAL_SOLVER_REQUEST ,   SEND_LOCAL_SOLVER_REQUEST }
enum	LocalFeedbackEnum { COLLISION_AHEAD = 1 , LOCAL_PLANNER_STUCK = 2 }
	Expected feedback types. More...
enum class	LocalPlannerState : int8_t {   ABORT = -1 , ERROR = 0 , UNCONFIGURED = 1 , AWAIT_GLOBAL_TRAJECTORY = 2 ,   LOCAL_PLANNING_ACTIVE = 3 }

Functions
constexpr std::string_view	toString (const LocalFeedbackEnum &code)

Variables
const std::string	UNDEFINED = "<undefined>"
const std::string	PLANNING_SCENE_MONITOR_NS = "planning_scene_monitor_options."
const std::string	PLANNING_PIPELINES_NS = "planning_pipelines."
const std::string	PLAN_REQUEST_PARAM_NS = "plan_request_params."

Enumeration Type Documentation

HybridPlanningAction

enum moveit::hybrid_planning::HybridPlanningAction

strong

Enum class HybridPlanningAction - This class defines the basic actions that the HP manager can perform

Enumerator
DO_NOTHING
RETURN_HP_SUCCESS
RETURN_HP_FAILURE
SEND_GLOBAL_SOLVER_REQUEST
SEND_LOCAL_SOLVER_REQUEST

Definition at line 68 of file hybrid_planning_events.h.

HybridPlanningEvent

enum moveit::hybrid_planning::HybridPlanningEvent

strong

Enum class HybridPlanningEvent - This class defines the most basic events that are likely to occur during hybrid planning

Enumerator
HYBRID_PLANNING_REQUEST_RECEIVED
GLOBAL_PLANNING_ACTION_SUCCESSFUL
GLOBAL_PLANNING_ACTION_ABORTED
GLOBAL_PLANNING_ACTION_CANCELED
GLOBAL_PLANNING_ACTION_REJECTED
GLOBAL_SOLUTION_AVAILABLE
LOCAL_PLANNING_ACTION_SUCCESSFUL
LOCAL_PLANNING_ACTION_ABORTED
LOCAL_PLANNING_ACTION_CANCELED
LOCAL_PLANNING_ACTION_REJECTED
UNDEFINED

Definition at line 45 of file hybrid_planning_events.h.

LocalFeedbackEnum

enum moveit::hybrid_planning::LocalFeedbackEnum

Expected feedback types.

Enumerator
COLLISION_AHEAD
LOCAL_PLANNER_STUCK

Definition at line 51 of file feedback_types.h.

LocalPlannerState

enum moveit::hybrid_planning::LocalPlannerState : int8_t

strong

Internal local planner states TODO(sjahr) Use lifecycle node?

Enumerator
ABORT
ERROR
UNCONFIGURED
AWAIT_GLOBAL_TRAJECTORY
LOCAL_PLANNING_ACTIVE

Definition at line 73 of file local_planner_component.h.

Function Documentation

toString()

constexpr std::string_view moveit::hybrid_planning::toString ( const LocalFeedbackEnum &  code )

constexpr

Definition at line 57 of file feedback_types.h.

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Variable Documentation

PLAN_REQUEST_PARAM_NS

const std::string moveit::hybrid_planning::PLAN_REQUEST_PARAM_NS = "plan_request_params."

Definition at line 43 of file moveit_planning_pipeline.cpp.

PLANNING_PIPELINES_NS

const std::string moveit::hybrid_planning::PLANNING_PIPELINES_NS = "planning_pipelines."

Definition at line 42 of file moveit_planning_pipeline.cpp.

PLANNING_SCENE_MONITOR_NS

const std::string moveit::hybrid_planning::PLANNING_SCENE_MONITOR_NS = "planning_scene_monitor_options."

Definition at line 41 of file moveit_planning_pipeline.cpp.

UNDEFINED

const std::string moveit::hybrid_planning::UNDEFINED = "<undefined>"

Definition at line 51 of file global_planner_component.cpp.