A robowflex::PipelinePlanner that uses the MoveIt! default OMPL planning pipeline. More...

#include <planning.h>

Inheritance diagram for robowflex::OMPL::OMPLPipelinePlanner:

Public Member Functions
	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 Protected Attributes
static const std::string	DEFAULT_PLUGIN
	The default OMPL plugin. More...

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

Private Attributes
std::vector< std::string >	configs_

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...

Detailed Description

A robowflex::PipelinePlanner that uses the MoveIt! default OMPL planning pipeline.

Definition at line 339 of file robowflex_library/include/robowflex_library/planning.h.

Constructor & Destructor Documentation

◆ OMPLPipelinePlanner() [1/2]

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

Definition at line 346 of file robowflex_library/src/planning.cpp.

   : PipelinePlanner(robot, name)
 {
 }

◆ OMPLPipelinePlanner() [2/2]

robowflex::OMPL::OMPLPipelinePlanner::OMPLPipelinePlanner ( OMPLPipelinePlanner const & )

delete

Member Function Documentation

◆ getPlannerConfigs()

std::vector< std::string > OMPL::OMPLPipelinePlanner::getPlannerConfigs ( ) const

overridevirtual

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().

Returns: A vector of strings of planner configuration names.

Implements robowflex::Planner.

Definition at line 377 of file robowflex_library/src/planning.cpp.

 {
     return configs_;
 }

◆ initialize()

bool OMPL::OMPLPipelinePlanner::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.

Parameters

[in]	config_file	A YAML file containing OMPL planner configurations.
[in]	settings	Settings to set on the parameter server.
[in]	plugin	Planning plugin to load.
[in]	adapters	Planning adapters to load.

Returns: True upon success, false on failure.

Definition at line 351 of file robowflex_library/src/planning.cpp.

 {
     if (!loadOMPLConfig(handler_, config_file, configs_))
         return false;
  
     handler_.setParam("planning_plugin", plugin);
  
     std::stringstream ss;
     for (std::size_t i = 0; i < adapters.size(); ++i)
     {
         ss << adapters[i];
         if (i < adapters.size() - 1)
             ss << " ";
     }
  
     handler_.setParam("request_adapters", ss.str());
     settings.setParam(handler_);
  
     pipeline_.reset(new planning_pipeline::PlanningPipeline(robot_->getModelConst(), handler_.getHandle(),
                                                             "planning_plugin", "request_adapters"));
  
     return true;
 }

◆ operator=()

void robowflex::OMPL::OMPLPipelinePlanner::operator= ( OMPLPipelinePlanner const & )

delete

Member Data Documentation

◆ configs_

std::vector<std::string> robowflex::OMPL::OMPLPipelinePlanner::configs_

private

Planning configurations loaded from config_file in initialize()

Definition at line 369 of file robowflex_library/include/robowflex_library/planning.h.

◆ DEFAULT_ADAPTERS

const std::vector< std::string > OMPL::OMPLPipelinePlanner::DEFAULT_ADAPTERS

staticprotected

The default planning adapters.

Definition at line 366 of file robowflex_library/include/robowflex_library/planning.h.

◆ DEFAULT_PLUGIN

const std::string OMPL::OMPLPipelinePlanner::DEFAULT_PLUGIN

staticprotected

The default OMPL plugin.

OMPL::PipelinePlanner

Definition at line 365 of file robowflex_library/include/robowflex_library/planning.h.

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

Public Member Functions

Static Protected Attributes

Private Attributes

Additional Inherited Members