ompl_interface Namespace Reference

The MoveIt interface to OMPL. More...

Classes
class	ConstrainedGoalSampler
class	ConstrainedSampler
class	ConstraintApproximation
struct	ConstraintApproximationConstructionOptions
struct	ConstraintApproximationConstructionResults
class	ConstraintsLibrary
class	GoalSampleableRegionMux
class	Bounds
	Represents upper and lower bound on the elements of a vector. More...
class	BaseConstraint
	Abstract base class for different types of constraints, implementations of ompl::base::Constraint. More...
class	BoxConstraint
	Box shaped position constraints. More...
class	EqualityPositionConstraint
	Equality constraints on a link's position. More...
class	OrientationConstraint
	Orientation constraints parameterized using exponential coordinates. More...
class	ProjectionEvaluatorLinkPose
class	ProjectionEvaluatorJointValue
class	StateValidityChecker
	An interface for a OMPL state validity checker. More...
class	ConstrainedPlanningStateValidityChecker
	A StateValidityChecker that can handle states of type ompl::base::ConstraintStateSpace::StateType. More...
class	TSStateStorage
struct	ModelBasedPlanningContextSpecification
class	ModelBasedPlanningContext
class	OMPLInterface
class	ConstrainedPlanningStateSpace
	State space to be used in combination with OMPL's constrained planning functionality. More...
class	ConstrainedPlanningStateSpaceFactory
class	JointModelStateSpace
class	JointModelStateSpaceFactory
struct	ModelBasedStateSpaceSpecification
class	ModelBasedStateSpace
class	ModelBasedStateSpaceFactory
class	PoseModelStateSpace
class	PoseModelStateSpaceFactory
class	MultiQueryPlannerAllocator
class	PlanningContextManager
class	ConstraintApproximationStateSampler
class	OMPLPlannerManager

Typedefs
typedef ompl::base::StateStorageWithMetadata< std::vector< std::size_t > >	ConstraintApproximationStateStorage
typedef std::function< bool(const ompl::base::State *, const ompl::base::State *)>	ConstraintStateStorageOrderFn
typedef std::pair< std::vector< std::size_t >, std::map< std::size_t, std::pair< std::size_t, std::size_t > > >	ConstrainedStateMetadata
typedef std::function< ob::PlannerPtr(const ompl::base::SpaceInformationPtr &si, const std::string &name, const ModelBasedPlanningContextSpecification &spec)>	ConfiguredPlannerAllocator
typedef std::function< ConfiguredPlannerAllocator(const std::string &planner_type)>	ConfiguredPlannerSelector
typedef std::function< bool(const ompl::base::State *from, const ompl::base::State *to, const double t, ompl::base::State *state)>	InterpolationFunction
typedef std::function< double(const ompl::base::State *state1, const ompl::base::State *state2)>	DistanceFunction

Functions
	MOVEIT_CLASS_FORWARD (ConstraintApproximation)
	MOVEIT_CLASS_FORWARD (ConstraintsLibrary)
	MOVEIT_CLASS_FORWARD (BaseConstraint)
	MOVEIT_CLASS_FORWARD (BoxConstraint)
	MOVEIT_CLASS_FORWARD (OrientationConstraint)
std::ostream &	operator<< (std::ostream &os, const ompl_interface::Bounds &bounds)
	Pretty printing of bounds.
Bounds	positionConstraintMsgToBoundVector (const moveit_msgs::msg::PositionConstraint &pos_con)
	Extract position constraints from the MoveIt message.
Bounds	orientationConstraintMsgToBoundVector (const moveit_msgs::msg::OrientationConstraint &ori_con)
	Extract orientation constraints from the MoveIt message.
ompl::base::ConstraintPtr	createOMPLConstraints (const moveit::core::RobotModelConstPtr &robot_model, const std::string &group, const moveit_msgs::msg::Constraints &constraints)
	Factory to create constraints based on what is in the MoveIt constraint message.
Eigen::Matrix3d	angularVelocityToAngleAxis (double angle, const Eigen::Ref< const Eigen::Vector3d > &axis)
	Return a matrix to convert angular velocity to angle-axis velocity Based on: https://ethz.ch/content/dam/ethz/special-interest/mavt/robotics-n-intelligent-systems/rsl-dam/documents/RobotDynamics2016/RD2016script.pdf Eq. 2.107.
	MOVEIT_CLASS_FORWARD (ModelBasedPlanningContext)
	MOVEIT_CLASS_FORWARD (ConstrainedPlanningStateSpace)
	OMPL_CLASS_FORWARD (ModelBasedStateSpace)
	MOVEIT_CLASS_FORWARD (ModelBasedStateSpaceFactory)
bool	interpolateUsingStoredStates (const ConstraintApproximationStateStorage *state_storage, const ob::State *from, const ob::State *to, const double t, ob::State *state)
ompl::base::StateSamplerPtr	allocConstraintApproximationStateSampler (const ob::StateSpace *space, const std::vector< int > &expected_signature, const ConstraintApproximationStateStorage *state_storage, std::size_t milestones)
template<>
ompl::base::Planner *	MultiQueryPlannerAllocator::allocatePersistentPlanner< ompl::geometric::PRM > (const ob::PlannerData &data)
template<>
ompl::base::Planner *	MultiQueryPlannerAllocator::allocatePersistentPlanner< ompl::geometric::PRMstar > (const ob::PlannerData &data)
template<>
ompl::base::Planner *	MultiQueryPlannerAllocator::allocatePersistentPlanner< ompl::geometric::LazyPRM > (const ob::PlannerData &data)
template<>
ompl::base::Planner *	MultiQueryPlannerAllocator::allocatePersistentPlanner< ompl::geometric::LazyPRMstar > (const ob::PlannerData &data)

Detailed Description

The MoveIt interface to OMPL.

A state validity checker checks:

• Bounds (joint limits).
• Collision.
• Kinematic path constraints.
• Generic user-specified feasibility using the isStateFeasible of the planning scene.

IMPORTANT: Although the isValid method takes the state as const ompl::base::State* state, it uses const_cast to modify the validity of the state with markInvalid and markValid for caching.

Typedef Documentation

ConfiguredPlannerAllocator

typedef std::function<ob::PlannerPtr(const ompl::base::SpaceInformationPtr& si, const std::string& name, const ModelBasedPlanningContextSpecification& spec)> ompl_interface::ConfiguredPlannerAllocator

Definition at line 62 of file model_based_planning_context.hpp.

ConfiguredPlannerSelector

typedef std::function<ConfiguredPlannerAllocator(const std::string& planner_type)> ompl_interface::ConfiguredPlannerSelector

Definition at line 63 of file model_based_planning_context.hpp.

ConstrainedStateMetadata

typedef std::pair<std::vector<std::size_t>, std::map<std::size_t, std::pair<std::size_t, std::size_t> > > ompl_interface::ConstrainedStateMetadata

Definition at line 49 of file constraints_library.hpp.

ConstraintApproximationStateStorage

typedef ompl::base::StateStorageWithMetadata< ConstrainedStateMetadata > ompl_interface::ConstraintApproximationStateStorage

Definition at line 47 of file constraint_approximations.hpp.

ConstraintStateStorageOrderFn

typedef std::function<bool(const ompl::base::State*, const ompl::base::State*)> ompl_interface::ConstraintStateStorageOrderFn

Definition at line 48 of file constraint_approximations.hpp.

DistanceFunction

typedef std::function<double(const ompl::base::State* state1, const ompl::base::State* state2)> ompl_interface::DistanceFunction

Definition at line 50 of file model_based_state_space.hpp.

InterpolationFunction

typedef std::function<bool(const ompl::base::State* from, const ompl::base::State* to, const double t, ompl::base::State* state)> ompl_interface::InterpolationFunction

Definition at line 49 of file model_based_state_space.hpp.

Function Documentation

allocConstraintApproximationStateSampler()

ompl::base::StateSamplerPtr ompl_interface::allocConstraintApproximationStateSampler	(	const ob::StateSpace *	space,
		const std::vector< int > &	expected_signature,
		const ConstraintApproximationStateStorage *	state_storage,
		std::size_t	milestones )

Definition at line 235 of file constraints_library.cpp.

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angularVelocityToAngleAxis()

Eigen::Matrix3d ompl_interface::angularVelocityToAngleAxis ( double angle, const Eigen::Ref< const Eigen::Vector3d > & axis )

inline

Return a matrix to convert angular velocity to angle-axis velocity Based on: https://ethz.ch/content/dam/ethz/special-interest/mavt/robotics-n-intelligent-systems/rsl-dam/documents/RobotDynamics2016/RD2016script.pdf Eq. 2.107.

Definition at line 449 of file ompl_constraints.hpp.

createOMPLConstraints()

ompl::base::ConstraintPtr ompl_interface::createOMPLConstraints	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const std::string &	group,
		const moveit_msgs::msg::Constraints &	constraints )

Factory to create constraints based on what is in the MoveIt constraint message.

Definition at line 370 of file ompl_constraints.cpp.

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interpolateUsingStoredStates()

bool ompl_interface::interpolateUsingStoredStates	(	const ConstraintApproximationStateStorage *	state_storage,
		const ob::State *	from,
		const ob::State *	to,
		const double	t,
		ob::State *	state )

Definition at line 179 of file constraints_library.cpp.

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MOVEIT_CLASS_FORWARD() [1/8]

ompl_interface::MOVEIT_CLASS_FORWARD

(

BaseConstraint

)

MOVEIT_CLASS_FORWARD() [2/8]

ompl_interface::MOVEIT_CLASS_FORWARD

(

BoxConstraint

)

MOVEIT_CLASS_FORWARD() [3/8]

ompl_interface::MOVEIT_CLASS_FORWARD

(

ConstrainedPlanningStateSpace

)

MOVEIT_CLASS_FORWARD() [4/8]

ompl_interface::MOVEIT_CLASS_FORWARD

(

ConstraintApproximation

)

MOVEIT_CLASS_FORWARD() [5/8]

ompl_interface::MOVEIT_CLASS_FORWARD

(

ConstraintsLibrary

)

MOVEIT_CLASS_FORWARD() [6/8]

ompl_interface::MOVEIT_CLASS_FORWARD

(

ModelBasedPlanningContext

)

MOVEIT_CLASS_FORWARD() [7/8]

ompl_interface::MOVEIT_CLASS_FORWARD

(

ModelBasedStateSpaceFactory

)

MOVEIT_CLASS_FORWARD() [8/8]

ompl_interface::MOVEIT_CLASS_FORWARD

(

OrientationConstraint

)

MultiQueryPlannerAllocator::allocatePersistentPlanner< ompl::geometric::LazyPRM >()

template<>

ompl::base::Planner * ompl_interface::MultiQueryPlannerAllocator::allocatePersistentPlanner< ompl::geometric::LazyPRM > ( const ob::PlannerData & data )

inline

Definition at line 242 of file planning_context_manager.cpp.

MultiQueryPlannerAllocator::allocatePersistentPlanner< ompl::geometric::LazyPRMstar >()

template<>

ompl::base::Planner * ompl_interface::MultiQueryPlannerAllocator::allocatePersistentPlanner< ompl::geometric::LazyPRMstar > ( const ob::PlannerData & data )

inline

Definition at line 248 of file planning_context_manager.cpp.

MultiQueryPlannerAllocator::allocatePersistentPlanner< ompl::geometric::PRM >()

template<>

ompl::base::Planner * ompl_interface::MultiQueryPlannerAllocator::allocatePersistentPlanner< ompl::geometric::PRM > ( const ob::PlannerData & data )

inline

Definition at line 230 of file planning_context_manager.cpp.

MultiQueryPlannerAllocator::allocatePersistentPlanner< ompl::geometric::PRMstar >()

template<>

ompl::base::Planner * ompl_interface::MultiQueryPlannerAllocator::allocatePersistentPlanner< ompl::geometric::PRMstar > ( const ob::PlannerData & data )

inline

Definition at line 236 of file planning_context_manager.cpp.

OMPL_CLASS_FORWARD()

ompl_interface::OMPL_CLASS_FORWARD

(

ModelBasedStateSpace

)

operator<<()

std::ostream & ompl_interface::operator<<	(	std::ostream &	os,
		const ompl_interface::Bounds &	bounds )

Pretty printing of bounds.

Definition at line 117 of file ompl_constraints.cpp.

orientationConstraintMsgToBoundVector()

Bounds ompl_interface::orientationConstraintMsgToBoundVector

(

const moveit_msgs::msg::OrientationConstraint &

ori_con

)

Extract orientation constraints from the MoveIt message.

These bounds are assumed to be centered around the target orientation / desired orientation given in the "orientation" field in the message. These bounds represent orientation error between the desired orientation and the current orientation of the end-effector.

The "absolute_x_axis_tolerance", "absolute_y_axis_tolerance" and "absolute_z_axis_tolerance" are interpreted as the width of the tolerance regions around the target orientation, represented using exponential coordinates.

Definition at line 353 of file ompl_constraints.cpp.

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positionConstraintMsgToBoundVector()

Bounds ompl_interface::positionConstraintMsgToBoundVector

(

const moveit_msgs::msg::PositionConstraint &

pos_con

)

Extract position constraints from the MoveIt message.

Assumes there is a single primitive of type shape_msgs/SolidPrimitive.BOX. The dimensions of the box are the bounds on the deviation of the link origin from the target pose, given in constraint_regions.primitive_poses[0].

Definition at line 336 of file ompl_constraints.cpp.

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