Classes
class	PlanResponsesContainer
	A container to thread-safely store multiple MotionPlanResponses. More...

Typedefs
typedef std::function< bool(const PlanResponsesContainer &plan_responses_container, const std::vector<::planning_interface::MotionPlanRequest > &plan_requests)>	StoppingCriterionFunction
	A stopping criterion callback function for the parallel planning API of planning component.

typedef std::function<::planning_interface::MotionPlanResponse(const std::vector<::planning_interface::MotionPlanResponse > &solutions)>	SolutionSelectionFunction
	A solution callback function type for the parallel planning API of planning component.

Functions
	MOVEIT_CLASS_FORWARD (PlanResponsesContainer)

::planning_interface::MotionPlanResponse	planWithSinglePipeline (const ::planning_interface::MotionPlanRequest &motion_plan_request, const ::planning_scene::PlanningSceneConstPtr &planning_scene, const std::unordered_map< std::string, planning_pipeline::PlanningPipelinePtr > &planning_pipelines)
	Function to calculate the MotionPlanResponse for a given MotionPlanRequest and a PlanningScene.

const std::vector<::planning_interface::MotionPlanResponse >	planWithParallelPipelines (const std::vector<::planning_interface::MotionPlanRequest > &motion_plan_requests, const ::planning_scene::PlanningSceneConstPtr &planning_scene, const std::unordered_map< std::string, planning_pipeline::PlanningPipelinePtr > &planning_pipelines, const StoppingCriterionFunction &stopping_criterion_callback=nullptr, const SolutionSelectionFunction &solution_selection_function=nullptr)
	Function to solve multiple planning problems in parallel threads with multiple planning pipelines at the same time.

std::unordered_map< std::string, planning_pipeline::PlanningPipelinePtr >	createPlanningPipelineMap (const std::vector< std::string > &pipeline_names, const moveit::core::RobotModelConstPtr &robot_model, const rclcpp::Node::SharedPtr &node, const std::string &parameter_namespace=std::string())
	Utility function to create a map of named planning pipelines.

::planning_interface::MotionPlanResponse	getShortestSolution (const std::vector<::planning_interface::MotionPlanResponse > &solutions)
	Function that returns the shortest solution out of a vector of solutions based on robot_trajectory::pathLength(...)

bool	stopAtFirstSolution (const PlanResponsesContainer &plan_responses_container, const std::vector<::planning_interface::MotionPlanRequest > &plan_requests)
	A callback function that can be used as a parallel planning stop criterion. It stops parallel planning as soon as any planner finds a solution.

rclcpp::Logger	getLogger ()

Typedef Documentation

◆ SolutionSelectionFunction

typedef std::function<::planning_interface::MotionPlanResponse( const std::vector<::planning_interface::MotionPlanResponse>& solutions)> moveit::planning_pipeline_interfaces::SolutionSelectionFunction

A solution callback function type for the parallel planning API of planning component.

Parameters

[in] solutions Motion plan responses to choose from

Returns: Selected motion plan response

Definition at line 65 of file planning_pipeline_interfaces.hpp.

◆ StoppingCriterionFunction

typedef std::function<bool(const PlanResponsesContainer& plan_responses_container, const std::vector<::planning_interface::MotionPlanRequest>& plan_requests)> moveit::planning_pipeline_interfaces::StoppingCriterionFunction

A stopping criterion callback function for the parallel planning API of planning component.

Parameters

[in]	plan_responses_container	Container with responses to be taken into account for the stopping decision
[in]	plan_requests	Motion plan requests for the parallel planner

Returns: True to stop parallel planning and abort planning pipelines that haven't terminated by now

Definition at line 57 of file planning_pipeline_interfaces.hpp.

Function Documentation

◆ createPlanningPipelineMap()

std::unordered_map< std::string, planning_pipeline::PlanningPipelinePtr > moveit::planning_pipeline_interfaces::createPlanningPipelineMap	(	const std::vector< std::string > &	pipeline_names,
		const moveit::core::RobotModelConstPtr &	robot_model,
		const rclcpp::Node::SharedPtr &	node,
		const std::string &	parameter_namespace = `std::string()`
	)

Utility function to create a map of named planning pipelines.

Parameters

[in]	pipeline_names	Vector of planning pipeline names to be used. Each name is also the namespace from which the pipeline parameters are loaded
[in]	robot_model	Robot model used to initialize the pipelines
[in]	node	Node used to load parameters
[in]	parameter_namespace	Optional prefix for the pipeline parameter namespace. Empty by default, so only the pipeline name is used as namespace

Returns: Map of PlanningPipelinePtr's associated with a name for faster look-up

Definition at line 172 of file planning_pipeline_interfaces.cpp.

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◆ getLogger()

rclcpp::Logger moveit::planning_pipeline_interfaces::getLogger ( )

Definition at line 47 of file planning_pipeline_interfaces.cpp.

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◆ getShortestSolution()

planning_interface::MotionPlanResponse moveit::planning_pipeline_interfaces::getShortestSolution ( const std::vector<::planning_interface::MotionPlanResponse > & solutions )

Function that returns the shortest solution out of a vector of solutions based on robot_trajectory::pathLength(...)

Parameters

[in] solutions Vector of solutions to chose the shortest one from

Returns: Shortest solution, trajectory of the returned MotionPlanResponse is a nullptr if no solution is found!

Definition at line 44 of file solution_selection_functions.cpp.

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◆ MOVEIT_CLASS_FORWARD()

moveit::planning_pipeline_interfaces::MOVEIT_CLASS_FORWARD ( PlanResponsesContainer )

◆ planWithParallelPipelines()

const std::vector<::planning_interface::MotionPlanResponse > moveit::planning_pipeline_interfaces::planWithParallelPipelines	(	const std::vector<::planning_interface::MotionPlanRequest > &	motion_plan_requests,
		const ::planning_scene::PlanningSceneConstPtr &	planning_scene,
		const std::unordered_map< std::string, planning_pipeline::PlanningPipelinePtr > &	planning_pipelines,
		const StoppingCriterionFunction &	stopping_criterion_callback = `nullptr`,
		const SolutionSelectionFunction &	solution_selection_function = `nullptr`
	)

Function to solve multiple planning problems in parallel threads with multiple planning pipelines at the same time.

Parameters

[in]	motion_plan_request	Motion planning problems to be solved
[in]	planning_scene	Planning scene for which the given planning problem needs to be solved
[in]	planning_pipelines	Pipelines available to solve the problems, if a requested pipeline is not provided the MotionPlanResponse will be FAILURE
[in]	stopping_criterion_callback	If this function returns true, the planning pipelines that are still running will be terminated and the existing solutions will be evaluated. If no callback is provided, all planning pipelines terminate after the max. planning time defined in the MotionPlanningRequest is reached.
[in]	solution_selection_function	Function to select a specific solution out of all available solution. If no function is provided, all solutions are returned.

Returns: If a solution_selection_function is provided a vector containing the selected response is returned, otherwise the vector contains all solutions produced.

Definition at line 79 of file planning_pipeline_interfaces.cpp.

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◆ planWithSinglePipeline()

planning_interface::MotionPlanResponse moveit::planning_pipeline_interfaces::planWithSinglePipeline	(	const ::planning_interface::MotionPlanRequest &	motion_plan_request,
		const ::planning_scene::PlanningSceneConstPtr &	planning_scene,
		const std::unordered_map< std::string, planning_pipeline::PlanningPipelinePtr > &	planning_pipelines
	)

Function to calculate the MotionPlanResponse for a given MotionPlanRequest and a PlanningScene.

Parameters

[in]	motion_plan_request	Motion planning problem to be solved
[in]	planning_scene	Planning scene for which the given planning problem needs to be solved
[in]	planning_pipelines	Pipelines available to solve the problem, if the requested pipeline is not provided the MotionPlanResponse will be FAILURE

Returns: MotionPlanResponse for the given planning problem

Definition at line 53 of file planning_pipeline_interfaces.cpp.

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◆ stopAtFirstSolution()

bool moveit::planning_pipeline_interfaces::stopAtFirstSolution	(	const PlanResponsesContainer &	plan_responses_container,
		const std::vector<::planning_interface::MotionPlanRequest > &	plan_requests
	)

A callback function that can be used as a parallel planning stop criterion. It stops parallel planning as soon as any planner finds a solution.

Definition at line 43 of file stopping_criterion_function.cpp.

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Classes

Typedefs

Functions

Typedef Documentation

◆ SolutionSelectionFunction

◆ StoppingCriterionFunction

Function Documentation

◆ createPlanningPipelineMap()

◆ getLogger()

◆ getShortestSolution()

◆ MOVEIT_CLASS_FORWARD()

◆ planWithParallelPipelines()

◆ planWithSinglePipeline()

◆ stopAtFirstSolution()