Convenience class for the default motion planning pipeline for Cob4. More...

#include <cob4.h>

Inheritance diagram for robowflex::OMPL::Cob4OMPLPipelinePlanner:

Public Member Functions
	Cob4OMPLPipelinePlanner (const RobotPtr &robot, const std::string &name="")
	Constructor. More...

bool	initialize (const Settings &settings=Settings(), const std::vector< std::string > &adapters=DEFAULT_ADAPTERS)
	Initialize the planning context. All parameter provided are defaults. More...

Public Member Functions inherited from robowflex::OMPL::OMPLPipelinePlanner
	OMPLPipelinePlanner (const RobotPtr &robot, const std::string &name="")

	OMPLPipelinePlanner (OMPLPipelinePlanner const &)=delete

void	operator= (OMPLPipelinePlanner const &)=delete

bool	initialize (const std::string &config_file="", const Settings &settings=Settings(), const std::string &plugin=DEFAULT_PLUGIN, const std::vector< std::string > &adapters=DEFAULT_ADAPTERS)
	Initialize planning pipeline. Loads OMPL planning plugin plugin with the planning adapters adapters. Parameters are set on the parameter server from settings and planning configurations are loaded from the YAML file config_file. More...

std::vector< std::string >	getPlannerConfigs () const override
	Return all planner configurations offered by this planner. Any of the configurations returned can be set as the planner for a motion planning query sent to plan(). More...

Public Member Functions inherited from robowflex::PipelinePlanner
	PipelinePlanner (const RobotPtr &robot, const std::string &name="")
	Constructor. More...

	PipelinePlanner (PipelinePlanner const &)=delete

void	operator= (PipelinePlanner const &)=delete

planning_interface::MotionPlanResponse	plan (const SceneConstPtr &scene, const planning_interface::MotionPlanRequest &request) override
	Plan a motion given a request and a scene. Uses the planning pipeline's generatePlan() method, which goes through planning adapters. More...

template<typename T >
std::shared_ptr< T >	extractPlanningContext (const SceneConstPtr &scene, const planning_interface::MotionPlanRequest &request) const
	Retrieve planning context and dynamically cast to desired type from planning pipeline. More...

Public Member Functions inherited from robowflex::Planner
	Planner (const RobotPtr &robot, const std::string &name="")
	Constructor. Takes in a robot description and an optional namespace name. If name is specified, planner parameters are namespaced under the namespace of robot. More...

	Planner (Planner const &)=delete

void	operator= (Planner const &)=delete

virtual std::map< std::string, ProgressProperty >	getProgressProperties (const SceneConstPtr &scene, const planning_interface::MotionPlanRequest &request) const
	Retrieve the planner progress property map for this planner given a specific request. More...

const RobotPtr	getRobot () const
	Return the robot for this planner. More...

const std::string &	getName () const
	Get the name of the planner. More...

virtual void	preRun (const SceneConstPtr &scene, const planning_interface::MotionPlanRequest &request)
	This function is called before benchmarking. More...

Static Private Attributes
static const std::string	DEFAULT_CONFIG
	Default planning configuration. More...

static const std::string	RESOURCE_CONFIG
	Planning configuration from robowflex_resources. More...

Additional Inherited Members
Public Types inherited from robowflex::Planner
using	ProgressProperty = std::function< std::string()>
	A function that returns the value of a planner property over the course of a run. More...

Protected Attributes inherited from robowflex::PipelinePlanner
planning_pipeline::PlanningPipelinePtr	pipeline_
	Loaded planning pipeline plugin. More...

Protected Attributes inherited from robowflex::Planner
RobotPtr	robot_
	The robot to plan for. More...

IO::Handler	handler_
	The parameter handler for the planner. More...

const std::string	name_
	Namespace for the planner. More...

Static Protected Attributes inherited from robowflex::OMPL::OMPLPipelinePlanner
static const std::string	DEFAULT_PLUGIN
	The default OMPL plugin. More...

static const std::vector< std::string >	DEFAULT_ADAPTERS
	The default planning adapters. More...

Detailed Description

Convenience class for the default motion planning pipeline for Cob4.

Definition at line 100 of file cob4.h.

Constructor & Destructor Documentation

◆ Cob4OMPLPipelinePlanner()

OMPL::Cob4OMPLPipelinePlanner::Cob4OMPLPipelinePlanner	(	const RobotPtr &	robot,
		const std::string &	name = `""`
	)

Constructor.

Parameters

[in]	robot	Robot to create planner for.
[in]	name	Namespace of this planner.

Definition at line 136 of file cob4.cpp.

   : OMPLPipelinePlanner(robot, name)
 {
 }

Member Function Documentation

◆ initialize()

bool OMPL::Cob4OMPLPipelinePlanner::initialize	(	const Settings &	settings = `Settings()`,
		const std::vector< std::string > &	adapters = `DEFAULT_ADAPTERS`
	)

Initialize the planning context. All parameter provided are defaults.

Parameters

[in]	settings	Settings to set on the parameter server.
[in]	adapters	Planning adapters to load.

Returns: True on success, false on failure.

Definition at line 141 of file cob4.cpp.

 {
     if (IO::resolvePackage(RESOURCE_CONFIG).empty())
         return OMPLPipelinePlanner::initialize(DEFAULT_CONFIG, settings, DEFAULT_PLUGIN, adapters);
     else
         return OMPLPipelinePlanner::initialize(RESOURCE_CONFIG, settings, DEFAULT_PLUGIN, adapters);
 }

Member Data Documentation

◆ DEFAULT_CONFIG

const std::string OMPL::Cob4OMPLPipelinePlanner::DEFAULT_CONFIG

staticprivate

Initial value:

{"package://cob_moveit_config/robots/cob4-8/moveit/config/"

"ompl_planning.yaml"}

Default planning configuration.

Definition at line 118 of file cob4.h.

◆ RESOURCE_CONFIG

const std::string OMPL::Cob4OMPLPipelinePlanner::RESOURCE_CONFIG

staticprivate

Initial value:

{"package://robowflex_resources/cob/config/"

"ompl_planning.yaml"}

Planning configuration from robowflex_resources.

Definition at line 119 of file cob4.h.

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

Public Member Functions

Static Private Attributes

Additional Inherited Members