robowflex::Planner Class Reference

An abstract interface to a motion planning algorithm. More...

#include <planning.h>

Inheritance diagram for robowflex::Planner:

Public Types
using	ProgressProperty = std::function< std::string()>
	A function that returns the value of a planner property over the course of a run. More...

Public Member Functions
	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 planning_interface::MotionPlanResponse	plan (const SceneConstPtr &scene, const planning_interface::MotionPlanRequest &request)=0
	Plan a motion given a request and a scene. A virtual method that must be implemented by any robowflex::Planner. More...
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
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

An abstract interface to a motion planning algorithm.

Definition at line 33 of file robowflex_library/include/robowflex_library/planning.h.

Member Typedef Documentation

ProgressProperty

using robowflex::Planner::ProgressProperty = std::function<std::string()>

A function that returns the value of a planner property over the course of a run.

Definition at line 38 of file robowflex_library/include/robowflex_library/planning.h.

Constructor & Destructor Documentation

Planner() [1/2]

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.

Parameters

[in]	robot	The robot to plan for.
[in]	name	Optional namespace for planner.

Planner

Definition at line 26 of file robowflex_library/src/planning.cpp.

  : robot_(robot), handler_(robot_->getHandler(), name), name_(name)
{
}

Planner() [2/2]

robowflex::Planner::Planner ( Planner const &  )

delete

Member Function Documentation

getName()

const std::string & Planner::getName

(

)

const

Get the name of the planner.

Returns

The planner's name.

Definition at line 36 of file robowflex_library/src/planning.cpp.

{
    return name_;
}

getPlannerConfigs()

virtual std::vector<std::string> robowflex::Planner::getPlannerConfigs ( ) const

pure virtual

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.

Implemented in robowflex::TrajOptPlanner, robowflex::OMPL::OMPLInterfacePlanner, robowflex::opt::CHOMPPipelinePlanner, robowflex::OMPL::OMPLPipelinePlanner, robowflex::SimpleCartesianPlanner, robowflex::PoolPlanner, and robowflex::darts::DARTPlanner.

getProgressProperties()

std::map< std::string, Planner::ProgressProperty > Planner::getProgressProperties ( const SceneConstPtr &  scene, const planning_interface::MotionPlanRequest &  request  ) const

virtual

Retrieve the planner progress property map for this planner given a specific request.

Parameters

[in]	scene	A planning scene for the same robot_ to compute the plan in.
[in]	request	Request to get progress properties for.

Returns

The map of progress properties.

Reimplemented in robowflex::OMPL::OMPLInterfacePlanner.

Definition at line 46 of file robowflex_library/src/planning.cpp.

{
    return {};
}

getRobot()

const RobotPtr Planner::getRobot

(

)

const

Return the robot for this planner.

Returns

Get the robot associated with the planner.

Definition at line 31 of file robowflex_library/src/planning.cpp.

{
    return robot_;
}

operator=()

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

delete

plan()

virtual planning_interface::MotionPlanResponse robowflex::Planner::plan ( const SceneConstPtr &  scene, const planning_interface::MotionPlanRequest &  request  )

pure virtual

Plan a motion given a request and a scene. A virtual method that must be implemented by any robowflex::Planner.

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.

Implemented in robowflex::TrajOptPlanner, robowflex::OMPL::OMPLInterfacePlanner, robowflex::PipelinePlanner, robowflex::SimpleCartesianPlanner, robowflex::PoolPlanner, and robowflex::darts::DARTPlanner.

preRun()

void Planner::preRun ( const SceneConstPtr &  scene, const planning_interface::MotionPlanRequest &  request  )

virtual

This function is called before benchmarking.

Parameters

[in]	scene	Scene to plan for.
[in]	request	Planning request.

Reimplemented in robowflex::OMPL::OMPLInterfacePlanner, and robowflex::darts::DARTPlanner.

Definition at line 41 of file robowflex_library/src/planning.cpp.

{
}

Member Data Documentation

handler_

IO::Handler robowflex::Planner::handler_

protected

The parameter handler for the planner.

Definition at line 94 of file robowflex_library/include/robowflex_library/planning.h.

name_

const std::string robowflex::Planner::name_

protected

Namespace for the planner.

Definition at line 95 of file robowflex_library/include/robowflex_library/planning.h.

robot_

RobotPtr robowflex::Planner::robot_

protected

The robot to plan for.

Definition at line 93 of file robowflex_library/include/robowflex_library/planning.h.

---

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

• robowflex_library/include/robowflex_library/planning.h
• robowflex_library/src/planning.cpp