moveit_ros::trajectory_cache Namespace Reference

Classes
class	AlwaysInsertNeverPrunePolicy
	A cache insertion policy that always decides to insert and never decides to prune for motion plan requests. More...
class	BestSeenExecutionTimePolicy
	A cache insertion policy that only decides to insert if the motion plan is the one with the shortest execution time seen so far amongst exactly matching MotionPlanRequests. More...
class	CacheInsertPolicyInterface
class	CartesianAlwaysInsertNeverPrunePolicy
	A cache insertion policy that always decides to insert and never decides to prune for cartesian path requests. More...
class	CartesianBestSeenExecutionTimePolicy
	A cache insertion policy that only decides to insert if the motion plan is the one with the shortest execution time seen so far amongst exactly matching GetCartesianPath requests. More...
class	CartesianMaxSpeedAndAccelerationFeatures
	Extracts max velocity and acceleration scaling, and cartesian speed limits from the plan request. More...
class	CartesianMaxStepAndJumpThresholdFeatures
	Extracts max step and jump thresholds from the plan request. More...
class	CartesianPathConstraintsFeatures
	Extracts features from the path_constraints field in the plan request. More...
class	CartesianStartStateJointStateFeatures
	Extracts details of the joint state from the start_state field in the plan request. More...
class	CartesianWaypointsFeatures
	Extracts features from the waypoints and link_name field in the plan request. More...
class	CartesianWorkspaceFeatures
	Extracts group name and frame ID from the plan request. More...
class	FeaturesInterface
class	GoalConstraintsFeatures
	Extracts features from the goal_constraints field in the plan request. More...
class	MaxSpeedAndAccelerationFeatures
	Extracts max velocity and acceleration scaling, and cartesian speed limits from the plan request. More...
class	MetadataOnlyFeature
class	PathConstraintsFeatures
	Extracts features from the path_constraints field in the plan request. More...
class	QueryOnlyEqFeature
class	QueryOnlyGTEFeature
class	QueryOnlyLTEFeature
class	QueryOnlyRangeInclusiveWithToleranceFeature
class	StartStateJointStateFeatures
	Extracts details of the joint state from the start_state field in the plan request. More...
class	TrajectoryCache
	Trajectory Cache manager for MoveIt. More...
class	TrajectoryConstraintsFeatures
	Extracts features from the trajectory_constraints field in the plan request. More...
class	WorkspaceFeatures
	Extracts group name and details of the workspace_parameters field in the plan request. More...

Functions
std::string	getWorkspaceFrameId (const moveit::planning_interface::MoveGroupInterface &move_group, const moveit_msgs::msg::WorkspaceParameters &workspace_parameters)
	Gets workspace frame ID. If workspace_parameters has no frame ID, fetch it from move_group.
std::string	getCartesianPathRequestFrameId (const moveit::planning_interface::MoveGroupInterface &move_group, const moveit_msgs::srv::GetCartesianPath::Request &path_request)
	Gets cartesian path request frame ID. If path_request has no frame ID, fetch it from move_group.
moveit::core::MoveItErrorCode	restateInNewFrame (const std::shared_ptr< tf2_ros::Buffer > &tf, const std::string &target_frame, const std::string &source_frame, geometry_msgs::msg::Point *translation, geometry_msgs::msg::Quaternion *rotation, const tf2::TimePoint &lookup_time=tf2::TimePointZero)
	Restates a translation and rotation in a new frame.
double	getExecutionTime (const moveit_msgs::msg::RobotTrajectory &trajectory)
	Returns the execution time of the trajectory in double seconds.
moveit_msgs::srv::GetCartesianPath::Request	constructGetCartesianPathRequest (moveit::planning_interface::MoveGroupInterface &move_group, const std::vector< geometry_msgs::msg::Pose > &waypoints, double max_step, double jump_threshold, bool avoid_collisions=true)
	Constructs a GetCartesianPath request.
void	queryAppendCenterWithTolerance (warehouse_ros::Query &query, const std::string &name, double center, double tolerance)
	Appends a range inclusive query with some tolerance about some center value.
void	sortJointConstraints (std::vector< moveit_msgs::msg::JointConstraint > &joint_constraints)
	Sorts a vector of joint constraints in-place by joint name.
void	sortPositionConstraints (std::vector< moveit_msgs::msg::PositionConstraint > &position_constraints)
	Sorts a vector of position constraints in-place by link name.
void	sortOrientationConstraints (std::vector< moveit_msgs::msg::OrientationConstraint > &orientation_constraints)
	Sorts a vector of orientation constraints in-place by link name.
moveit::core::MoveItErrorCode	appendConstraintsAsFetchQueryWithTolerance (warehouse_ros::Query &query, std::vector< moveit_msgs::msg::Constraints > constraints, const moveit::planning_interface::MoveGroupInterface &move_group, double match_tolerance, const std::string &reference_frame_id, const std::string &prefix)
	Extracts relevant features from a vector of moveit_msgs::msg::Constraints messages to a fetch query, with tolerance.
moveit::core::MoveItErrorCode	appendConstraintsAsInsertMetadata (warehouse_ros::Metadata &metadata, std::vector< moveit_msgs::msg::Constraints > constraints, const moveit::planning_interface::MoveGroupInterface &move_group, const std::string &reference_frame_id, const std::string &prefix)
	Extracts relevant features from a vector of moveit_msgs::msg::Constraints messages to a cache entry's metadata.
moveit::core::MoveItErrorCode	appendRobotStateJointStateAsFetchQueryWithTolerance (warehouse_ros::Query &query, const moveit_msgs::msg::RobotState &robot_state, const moveit::planning_interface::MoveGroupInterface &move_group, double match_tolerance, const std::string &prefix)
	Extracts relevant features from a vector of moveit_msgs::msg::Constraints messages to a fetch query, with tolerance.
moveit::core::MoveItErrorCode	appendRobotStateJointStateAsInsertMetadata (warehouse_ros::Metadata &metadata, const moveit_msgs::msg::RobotState &robot_state, const moveit::planning_interface::MoveGroupInterface &move_group, const std::string &prefix)
	Extracts relevant features from a vector of moveit_msgs::msg::Constraints messages to a cache entry's metadata.
std::string	getWorkspaceFrameId (const MoveGroupInterface &move_group, const moveit_msgs::msg::WorkspaceParameters &workspace_parameters)
std::string	getCartesianPathRequestFrameId (const MoveGroupInterface &move_group, const GetCartesianPath::Request &path_request)
GetCartesianPath::Request	constructGetCartesianPathRequest (MoveGroupInterface &move_group, const std::vector< geometry_msgs::msg::Pose > &waypoints, double max_step, double jump_threshold, bool avoid_collisions)
void	queryAppendCenterWithTolerance (Query &query, const std::string &name, double center, double tolerance)
moveit::core::MoveItErrorCode	appendConstraintsAsFetchQueryWithTolerance (Query &query, std::vector< moveit_msgs::msg::Constraints > constraints, const MoveGroupInterface &move_group, double match_tolerance, const std::string &reference_frame_id, const std::string &prefix)
moveit::core::MoveItErrorCode	appendConstraintsAsInsertMetadata (Metadata &metadata, std::vector< moveit_msgs::msg::Constraints > constraints, const MoveGroupInterface &move_group, const std::string &workspace_frame_id, const std::string &prefix)
moveit::core::MoveItErrorCode	appendRobotStateJointStateAsFetchQueryWithTolerance (Query &query, const moveit_msgs::msg::RobotState &robot_state, const MoveGroupInterface &move_group, double match_tolerance, const std::string &prefix)
moveit::core::MoveItErrorCode	appendRobotStateJointStateAsInsertMetadata (Metadata &metadata, const moveit_msgs::msg::RobotState &robot_state, const MoveGroupInterface &move_group, const std::string &prefix)

Function Documentation

appendConstraintsAsFetchQueryWithTolerance() [1/2]

moveit::core::MoveItErrorCode moveit_ros::trajectory_cache::appendConstraintsAsFetchQueryWithTolerance	(	Query &	query,
		std::vector< moveit_msgs::msg::Constraints >	constraints,
		const MoveGroupInterface &	move_group,
		double	match_tolerance,
		const std::string &	reference_frame_id,
		const std::string &	prefix
	)

Definition at line 212 of file utils.cpp.

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appendConstraintsAsFetchQueryWithTolerance() [2/2]

moveit::core::MoveItErrorCode moveit_ros::trajectory_cache::appendConstraintsAsFetchQueryWithTolerance	(	warehouse_ros::Query &	query,
		std::vector< moveit_msgs::msg::Constraints >	constraints,
		const moveit::planning_interface::MoveGroupInterface &	move_group,
		double	match_tolerance,
		const std::string &	reference_frame_id,
		const std::string &	prefix
	)

Extracts relevant features from a vector of moveit_msgs::msg::Constraints messages to a fetch query, with tolerance.

This will extract relevant features from the joint, position, and orientation constraints per element. This exists because many keyable messages contain constraints which should be handled similarly.

WARNING: Visibility constraints are not supported.

Additionally, the component constraints within each vector element are sorted to reduce cache cardinality. For the same reason, constraints with frames are restated in terms of the workspace frame.

We copy the input constraints to support this.

Parameters

[in,out]	query.	The query to add features to.
[in]	constraints.	The constraints to extract features from.
[in]	move_group.	The manipulator move group, used to get its state.
[in]	reference_frame_id.	The frame to restate constraints in.
[in]	prefix.	A prefix to add to feature keys.

Returns

moveit::core::MoveItErrorCode::SUCCESS if successfully appended. Otherwise, will return a different error code, in which case the query should not be reused.

appendConstraintsAsInsertMetadata() [1/2]

moveit::core::MoveItErrorCode moveit_ros::trajectory_cache::appendConstraintsAsInsertMetadata	(	Metadata &	metadata,
		std::vector< moveit_msgs::msg::Constraints >	constraints,
		const MoveGroupInterface &	move_group,
		const std::string &	workspace_frame_id,
		const std::string &	prefix
	)

Definition at line 362 of file utils.cpp.

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appendConstraintsAsInsertMetadata() [2/2]

moveit::core::MoveItErrorCode moveit_ros::trajectory_cache::appendConstraintsAsInsertMetadata	(	warehouse_ros::Metadata &	metadata,
		std::vector< moveit_msgs::msg::Constraints >	constraints,
		const moveit::planning_interface::MoveGroupInterface &	move_group,
		const std::string &	reference_frame_id,
		const std::string &	prefix
	)

Extracts relevant features from a vector of moveit_msgs::msg::Constraints messages to a cache entry's metadata.

This will extract relevant features from the joint, position, and orientation constraints per element. This exists because many keyable messages contain constraints which should be handled similarly.

WARNING: Visibility constraints and constraint regions are not supported.

Additionally, the component constraints within each vector element are sorted to reduce cache cardinality. For the same reason, constraints with frames are restated in terms of the workspace frame.

We copy the input constraints to support this.

Parameters

[in,out]	metadata.	The metadata to add features to.
[in]	constraints.	The constraints to extract features from.
[in]	move_group.	The manipulator move group, used to get its state.
[in]	reference_frame_id.	The frame to restate constraints in.
[in]	prefix.	A prefix to add to feature keys.

Returns

moveit::core::MoveItErrorCode::SUCCESS if successfully appended. Otherwise, will return a different error code, in which case the metadata should not be reused.

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appendRobotStateJointStateAsFetchQueryWithTolerance() [1/2]

moveit::core::MoveItErrorCode moveit_ros::trajectory_cache::appendRobotStateJointStateAsFetchQueryWithTolerance	(	Query &	query,
		const moveit_msgs::msg::RobotState &	robot_state,
		const MoveGroupInterface &	move_group,
		double	match_tolerance,
		const std::string &	prefix
	)

Definition at line 514 of file utils.cpp.

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appendRobotStateJointStateAsFetchQueryWithTolerance() [2/2]

moveit::core::MoveItErrorCode moveit_ros::trajectory_cache::appendRobotStateJointStateAsFetchQueryWithTolerance	(	warehouse_ros::Query &	query,
		const moveit_msgs::msg::RobotState &	robot_state,
		const moveit::planning_interface::MoveGroupInterface &	move_group,
		double	match_tolerance,
		const std::string &	prefix
	)

Extracts relevant features from a vector of moveit_msgs::msg::Constraints messages to a fetch query, with tolerance.

This will extract relevant features from the joint, position, and orientation constraints per element. This exists because many keyable messages contain constraints which should be handled similarly.

WARNING: Visibility constraints are not supported.

Additionally, the component constraints within each vector element are sorted to reduce cache cardinality. For the same reason, constraints with frames are restated in terms of the workspace frame.

We copy the input constraints to support this.

Parameters

[in,out]	query.	The query to add features to.
[in]	robot_state.	The robot state to extract features from.
[in]	move_group.	The manipulator move group, used to get its state.
[in]	prefix.	A prefix to add to feature keys.

Returns

moveit::core::MoveItErrorCode::SUCCESS if successfully appended. Otherwise, will return a different error code, in which case the query should not be reused.

appendRobotStateJointStateAsInsertMetadata() [1/2]

moveit::core::MoveItErrorCode moveit_ros::trajectory_cache::appendRobotStateJointStateAsInsertMetadata	(	Metadata &	metadata,
		const moveit_msgs::msg::RobotState &	robot_state,
		const MoveGroupInterface &	move_group,
		const std::string &	prefix
	)

Definition at line 583 of file utils.cpp.

appendRobotStateJointStateAsInsertMetadata() [2/2]

moveit::core::MoveItErrorCode moveit_ros::trajectory_cache::appendRobotStateJointStateAsInsertMetadata	(	warehouse_ros::Metadata &	metadata,
		const moveit_msgs::msg::RobotState &	robot_state,
		const moveit::planning_interface::MoveGroupInterface &	move_group,
		const std::string &	prefix
	)

Extracts relevant features from a vector of moveit_msgs::msg::Constraints messages to a cache entry's metadata.

This will extract relevant features from the joint, position, and orientation constraints per element. This exists because many keyable messages contain constraints which should be handled similarly.

WARNING: Visibility constraints and constraint regions are not supported.

Additionally, the component constraints within each vector element are sorted to reduce cache cardinality. For the same reason, constraints with frames are restated in terms of the workspace frame.

We copy the input constraints to support this.

Parameters

[in,out]	metadata.	The metadata to add features to.
[in]	robot_state.	The robot state to extract features from.
[in]	move_group.	The manipulator move group, used to get its state.
[in]	prefix.	A prefix to add to feature keys.

Returns

moveit::core::MoveItErrorCode::SUCCESS if successfully appended. Otherwise, will return a different error code, in which case the metadata should not be reused.

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constructGetCartesianPathRequest() [1/2]

GetCartesianPath::Request moveit_ros::trajectory_cache::constructGetCartesianPathRequest	(	MoveGroupInterface &	move_group,
		const std::vector< geometry_msgs::msg::Pose > &	waypoints,
		double	max_step,
		double	jump_threshold,
		bool	avoid_collisions
	)

Definition at line 153 of file utils.cpp.

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constructGetCartesianPathRequest() [2/2]

moveit_msgs::srv::GetCartesianPath::Request moveit_ros::trajectory_cache::constructGetCartesianPathRequest	(	moveit::planning_interface::MoveGroupInterface &	move_group,
		const std::vector< geometry_msgs::msg::Pose > &	waypoints,
		double	max_step,
		double	jump_threshold,
		bool	avoid_collisions = true
	)

Constructs a GetCartesianPath request.

This is a convenience function. This mimics the move group computeCartesianPath signature (without path constraints).

WARNING: The following fields are not supported, if you want to specify them, add them in yourself.

• prismatic_jump_threshold
• revolute_jump_threshold
• cartesian_speed_limited_link
• max_cartesian_speed

Parameters

[in]	move_group.	The manipulator move group, used to get its state, frames, and link.
[in]	waypoints.	The cartesian waypoints to request the path for.
[in]	max_step.	The value to populate into the GetCartesianPath request's max_step field.
[in]	jump_threshold.	The value to populate into the GetCartesianPath request's jump_threshold field.
[in]	avoid_collisions.	The value to populate into the GetCartesianPath request's avoid_collisions field.

Returns

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getCartesianPathRequestFrameId() [1/2]

std::string moveit_ros::trajectory_cache::getCartesianPathRequestFrameId	(	const MoveGroupInterface &	move_group,
		const GetCartesianPath::Request &	path_request
	)

Definition at line 75 of file utils.cpp.

getCartesianPathRequestFrameId() [2/2]

std::string moveit_ros::trajectory_cache::getCartesianPathRequestFrameId	(	const moveit::planning_interface::MoveGroupInterface &	move_group,
		const moveit_msgs::srv::GetCartesianPath::Request &	path_request
	)

Gets cartesian path request frame ID. If path_request has no frame ID, fetch it from move_group.

It makes sense to use getPoseReferenceFrame() in the absence of a frame ID in the request because the same method is used to populate the header frame ID in the MoveGroupInterface's computeCartesianPath() method, which this function is associated with.

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getExecutionTime()

double moveit_ros::trajectory_cache::getExecutionTime

(

const moveit_msgs::msg::RobotTrajectory &

trajectory

)

Returns the execution time of the trajectory in double seconds.

Definition at line 146 of file utils.cpp.

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getWorkspaceFrameId() [1/2]

std::string moveit_ros::trajectory_cache::getWorkspaceFrameId	(	const MoveGroupInterface &	move_group,
		const moveit_msgs::msg::WorkspaceParameters &	workspace_parameters
	)

Definition at line 62 of file utils.cpp.

getWorkspaceFrameId() [2/2]

std::string moveit_ros::trajectory_cache::getWorkspaceFrameId	(	const moveit::planning_interface::MoveGroupInterface &	move_group,
		const moveit_msgs::msg::WorkspaceParameters &	workspace_parameters
	)

Gets workspace frame ID. If workspace_parameters has no frame ID, fetch it from move_group.

It makes sense to use getPoseReferenceFrame() in the absence of a frame ID in the request because the same method is used to populate the header frame ID in the MoveGroupInterface's computeCartesianPath() method, which this function is associated with.

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queryAppendCenterWithTolerance() [1/2]

void moveit_ros::trajectory_cache::queryAppendCenterWithTolerance	(	Query &	query,
		const std::string &	name,
		double	center,
		double	tolerance
	)

Definition at line 180 of file utils.cpp.

queryAppendCenterWithTolerance() [2/2]

void moveit_ros::trajectory_cache::queryAppendCenterWithTolerance	(	warehouse_ros::Query &	query,
		const std::string &	name,
		double	center,
		double	tolerance
	)

Appends a range inclusive query with some tolerance about some center value.

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restateInNewFrame()

MoveItErrorCode moveit_ros::trajectory_cache::restateInNewFrame	(	const std::shared_ptr< tf2_ros::Buffer > &	tf,
		const std::string &	target_frame,
		const std::string &	source_frame,
		geometry_msgs::msg::Point *	translation,
		geometry_msgs::msg::Quaternion *	rotation,
		const tf2::TimePoint &	lookup_time = tf2::TimePointZero
	)

Restates a translation and rotation in a new frame.

Parameters

[in]	tf.	The transform buffer to use.
[in]	target_frame.	The frame to restate in.
[in]	source_frame.	The frame to restate from.
[in,out]	translation.	The translation to restate. Ignored if nullptr.
[in,out]	rotation.	The rotation to restate. Ignored if nullptr.

Returns

MoveItErrorCode::SUCCESS if successfully restated. Otherwise, will return return MoveItErrorCode::FRAME_TRANSFORM_FAILURE if the transform could not be retrieved.

Definition at line 88 of file utils.cpp.

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sortJointConstraints()

void moveit_ros::trajectory_cache::sortJointConstraints

(

std::vector< moveit_msgs::msg::JointConstraint > &

joint_constraints

)

Sorts a vector of joint constraints in-place by joint name.

Definition at line 187 of file utils.cpp.

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sortOrientationConstraints()

void moveit_ros::trajectory_cache::sortOrientationConstraints

(

std::vector< moveit_msgs::msg::OrientationConstraint > &

orientation_constraints

)

Sorts a vector of orientation constraints in-place by link name.

Definition at line 203 of file utils.cpp.

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sortPositionConstraints()

void moveit_ros::trajectory_cache::sortPositionConstraints

(

std::vector< moveit_msgs::msg::PositionConstraint > &

position_constraints

)

Sorts a vector of position constraints in-place by link name.

Definition at line 195 of file utils.cpp.

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