A motion planner that uses the MoveIt! planning pipeline to load a planner plugin. More...

#include <planning.h>

Inheritance diagram for robowflex::PipelinePlanner:

Public Member Functions
	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::vector< std::string >	getPlannerConfigs () const =0
	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...

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...

Protected Attributes
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...

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...

Detailed Description

A motion planner that uses the MoveIt! planning pipeline to load a planner plugin.

Definition at line 248 of file robowflex_library/include/robowflex_library/planning.h.

Constructor & Destructor Documentation

◆ PipelinePlanner() [1/2]

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

Constructor.

PipelinePlanner

Definition at line 253 of file robowflex_library/src/planning.cpp.

                                                                              : Planner(robot, name)
 {
 }

◆ PipelinePlanner() [2/2]

robowflex::PipelinePlanner::PipelinePlanner ( PipelinePlanner const & )

delete

Member Function Documentation

◆ extractPlanningContext()

template<typename T >

std::shared_ptr<T> robowflex::PipelinePlanner::extractPlanningContext	(	const SceneConstPtr &	scene,
		const planning_interface::MotionPlanRequest &	request
	)		const

inline

Retrieve planning context and dynamically cast to desired type from planning pipeline.

Parameters

[in]	scene	A planning scene for the same robot_ to compute the plan in.
[in]	request	The motion planning request to solve.

Template Parameters

T	Type of underlying planning context.

Returns: The casted context for the motion planning request. On failure, nullptr.

Definition at line 275 of file robowflex_library/include/robowflex_library/planning.h.

         {
             if (not pipeline_)
                 return nullptr;
  
             auto pc = pipeline_->getPlannerManager()->getPlanningContext(scene->getSceneConst(), request);
             return std::dynamic_pointer_cast<T>(pc);
         }

◆ operator=()

void robowflex::PipelinePlanner::operator= ( PipelinePlanner const & )

delete

◆ plan()

planning_interface::MotionPlanResponse PipelinePlanner::plan	(	const SceneConstPtr &	scene,
		const planning_interface::MotionPlanRequest &	request
	)

overridevirtual

Plan a motion given a request and a scene. Uses the planning pipeline's generatePlan() method, which goes through planning adapters.

Parameters

[in]	scene	A planning scene for the same robot_ to compute the plan in.
[in]	request	The motion planning request to solve.

Returns: The motion planning response generated by the planner.

Implements robowflex::Planner.

Definition at line 258 of file robowflex_library/src/planning.cpp.

 {
     planning_interface::MotionPlanResponse response;
     if (pipeline_)
         pipeline_->generatePlan(scene->getSceneConst(), request, response);
  
     return response;
 }

Member Data Documentation

◆ pipeline_

planning_pipeline::PlanningPipelinePtr robowflex::PipelinePlanner::pipeline_

protected

Loaded planning pipeline plugin.

Definition at line 286 of file robowflex_library/include/robowflex_library/planning.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members