A thread pool of planners P to service requests in a multi-threaded environment simultaneously. More...

#include <planning.h>

Inheritance diagram for robowflex::PoolPlanner:

Public Member Functions
	PoolPlanner (const RobotPtr &robot, unsigned int n=std::thread::hardware_concurrency(), 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...

	PoolPlanner (PoolPlanner const &)=delete

void	operator= (PoolPlanner const &)=delete

template<typename P , typename... Args>
bool	initialize (Args &&... args)
	Initialize the planner pool. Forwards template arguments Args to the initializer of the templated planner P. Assumes that the constructor of the planner takes robot_ and name_. More...

std::shared_ptr< Pool::Job< planning_interface::MotionPlanResponse > >	submit (const SceneConstPtr &scene, const planning_interface::MotionPlanRequest &request)
	Submit a motion planning request job to the queue. More...

planning_interface::MotionPlanResponse	plan (const SceneConstPtr &scene, const planning_interface::MotionPlanRequest &request) override
	Plan a motion given a request and a scene. Forwards the planning request onto the thread pool to be executed. Blocks until complete and returns result. 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::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...

Private Attributes
Pool	pool_
	Thread pool. More...

std::queue< PlannerPtr >	planners_
	Motion planners. More...

std::mutex	mutex_
	Planner mutex. More...

std::condition_variable	cv_
	Planner condition variable. 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::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 thread pool of planners P to service requests in a multi-threaded environment simultaneously.

Definition at line 101 of file robowflex_library/include/robowflex_library/planning.h.

Constructor & Destructor Documentation

◆ PoolPlanner() [1/2]

PoolPlanner::PoolPlanner	(	const RobotPtr &	robot,
		unsigned int	n = `std::thread::hardware_concurrency()`,
		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]	n	The number of threads to use. By default uses maximum available on the machine.
[in]	name	Optional namespace for planner.

PoolPlanner

Definition at line 57 of file robowflex_library/src/planning.cpp.

   : Planner(robot, name), pool_(n)
 {
 }

◆ PoolPlanner() [2/2]

robowflex::PoolPlanner::PoolPlanner ( PoolPlanner const & )

delete

Member Function Documentation

◆ getPlannerConfigs()

std::vector< std::string > PoolPlanner::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 91 of file robowflex_library/src/planning.cpp.

 {
     return planners_.front()->getPlannerConfigs();
 }

◆ initialize()

template<typename P , typename... Args>

bool robowflex::PoolPlanner::initialize ( Args &&... args )

inline

Initialize the planner pool. Forwards template arguments Args to the initializer of the templated planner P. Assumes that the constructor of the planner takes robot_ and name_.

Parameters

[in] args Arguments to initializer of planner P.

Template Parameters

P	The robowflex::Planner to pool.
Args	Argument types to initializer of planner P.

Returns: True on success, false on failure.

Definition at line 127 of file robowflex_library/include/robowflex_library/planning.h.

         {
             for (unsigned int i = 0; i < pool_.getThreadCount(); ++i)
             {
                 auto planner = std::make_shared<P>(robot_, name_);
  
                 if (!planner->initialize(std::forward<Args>(args)...))
                     return false;
  
                 planners_.emplace(std::move(planner));
             }
  
             return true;
         }

◆ operator=()

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

delete

◆ plan()

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

overridevirtual

Plan a motion given a request and a scene. Forwards the planning request onto the thread pool to be executed. Blocks until complete and returns result.

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 84 of file robowflex_library/src/planning.cpp.

 {
     auto job = submit(scene, request);
     return job->get();
 }

◆ submit()

std::shared_ptr< Pool::Job< planning_interface::MotionPlanResponse > > PoolPlanner::submit	(	const SceneConstPtr &	scene,
		const planning_interface::MotionPlanRequest &	request
	)

Submit a motion planning request job to the queue.

Parameters

[in]	scene	Planning scene to plane for.
[in]	request	Motion plan request to service.

Returns: Job that will service the planning request. This job can be canceled.

Definition at line 63 of file robowflex_library/src/planning.cpp.

 {
     return pool_.submit(make_function([&] {
         std::unique_lock<std::mutex> lock(mutex_);
         cv_.wait(lock, [&] { return !planners_.empty(); });
  
         auto planner = planners_.front();
         planners_.pop();
  
         lock.unlock();
  
         auto result = planner->plan(scene, request);
  
         lock.lock();
         planners_.emplace(planner);
         cv_.notify_one();
  
         return result;
     }));
 }

Member Data Documentation

◆ cv_

std::condition_variable robowflex::PoolPlanner::cv_

private

Planner condition variable.

Definition at line 167 of file robowflex_library/include/robowflex_library/planning.h.

◆ mutex_

std::mutex robowflex::PoolPlanner::mutex_

private

Planner mutex.

Definition at line 166 of file robowflex_library/include/robowflex_library/planning.h.

◆ planners_

std::queue<PlannerPtr> robowflex::PoolPlanner::planners_

private

Motion planners.

Definition at line 165 of file robowflex_library/include/robowflex_library/planning.h.

◆ pool_

Pool robowflex::PoolPlanner::pool_

private

Thread pool.

Definition at line 163 of file robowflex_library/include/robowflex_library/planning.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PoolPlanner() [1/2]

◆ PoolPlanner() [2/2]

Member Function Documentation

◆ getPlannerConfigs()

◆ initialize()

◆ operator=()

◆ plan()

◆ submit()

Member Data Documentation

◆ cv_

◆ mutex_

◆ planners_

◆ pool_