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

#include <planning.h>

Inheritance diagram for robowflex::opt::CHOMPPipelinePlanner:

Public Member Functions
	CHOMPPipelinePlanner (const RobotPtr &robot, const std::string &name="")

	CHOMPPipelinePlanner (CHOMPPipelinePlanner const &)=delete

void	operator= (CHOMPPipelinePlanner const &)=delete

bool	initialize (const std::string &config_file, const std::string &plugin=DEFAULT_PLUGIN, const std::vector< std::string > &adapters=DEFAULT_ADAPTERS)
	Initialize planning pipeline. Loads CHOMP planning plugin plugin with the planning adapters adapters. Parameters are set on the parameter server from config_file. More...

bool	initialize (const CHOMPSettings &settings=CHOMPSettings(), const std::string &plugin=DEFAULT_PLUGIN, const std::vector< std::string > &adapters=DEFAULT_ADAPTERS)
	Initialize planning pipeline. Loads CHOMP planning plugin plugin with the planning adapters adapters. Parameters are set on the parameter server from settings. 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...

Protected Member Functions
bool	finishInitialize (const std::string &plugin, const std::vector< std::string > &adapters)
	Finalize the initialization process after parameters are set. More...

Static Protected Attributes
static const std::string	DEFAULT_PLUGIN
	The default CHOMP plugin. More...

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

Private Attributes
std::vector< std::string >	configs_
	Planning configurations loaded from config_file. 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...

Detailed Description

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

Definition at line 444 of file robowflex_library/include/robowflex_library/planning.h.

Constructor & Destructor Documentation

◆ CHOMPPipelinePlanner() [1/2]

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

Definition at line 488 of file robowflex_library/src/planning.cpp.

   : PipelinePlanner(robot, name)
 {
 }

◆ CHOMPPipelinePlanner() [2/2]

robowflex::opt::CHOMPPipelinePlanner::CHOMPPipelinePlanner ( CHOMPPipelinePlanner const & )

delete

Member Function Documentation

◆ finishInitialize()

bool opt::CHOMPPipelinePlanner::finishInitialize	(	const std::string &	plugin,
		const std::vector< std::string > &	adapters
	)

protected

Finalize the initialization process after parameters are set.

Parameters

[in]	plugin	Planning plugin to load.
[in]	adapters	Planning adapters to load.

Returns: True upon success, false on failure.

Definition at line 509 of file robowflex_library/src/planning.cpp.

 {
     configs_.emplace_back("chomp");
     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());
     pipeline_.reset(new planning_pipeline::PlanningPipeline(robot_->getModelConst(), handler_.getHandle(),
                                                             "planning_plugin", "request_adapters"));
  
     return true;
 }

◆ getPlannerConfigs()

std::vector< std::string > opt::CHOMPPipelinePlanner::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 530 of file robowflex_library/src/planning.cpp.

 {
     return configs_;
 }

◆ initialize() [1/2]

bool opt::CHOMPPipelinePlanner::initialize	(	const CHOMPSettings &	settings = `CHOMPSettings()`,
		const std::string &	plugin = `DEFAULT_PLUGIN`,
		const std::vector< std::string > &	adapters = `DEFAULT_ADAPTERS`
	)

Initialize planning pipeline. Loads CHOMP planning plugin plugin with the planning adapters adapters. Parameters are set on the parameter server from settings.

Parameters

[in]	settings	Planner settings.
[in]	plugin	Planning plugin to load.
[in]	adapters	Planning adapters to load.

Returns: True upon success, false on failure.

Definition at line 493 of file robowflex_library/src/planning.cpp.

 {
     settings.setParam(handler_);
     return finishInitialize(plugin, adapters);
 }

◆ initialize() [2/2]

bool opt::CHOMPPipelinePlanner::initialize	(	const std::string &	config_file,
		const std::string &	plugin = `DEFAULT_PLUGIN`,
		const std::vector< std::string > &	adapters = `DEFAULT_ADAPTERS`
	)

Initialize planning pipeline. Loads CHOMP planning plugin plugin with the planning adapters adapters. Parameters are set on the parameter server from config_file.

Parameters

[in]	config_file	A YAML file containing CHOMP configuration.
[in]	plugin	Planning plugin to load.
[in]	adapters	Planning adapters to load.

Returns: True upon success, false on failure.

Definition at line 500 of file robowflex_library/src/planning.cpp.

 {
     if (!loadConfig(handler_, config_file))
         return false;
  
     return finishInitialize(plugin, adapters);
 }

◆ operator=()

void robowflex::opt::CHOMPPipelinePlanner::operator= ( CHOMPPipelinePlanner const & )

delete

Member Data Documentation

◆ configs_

std::vector<std::string> robowflex::opt::CHOMPPipelinePlanner::configs_

private

Planning configurations loaded from config_file.

Definition at line 490 of file robowflex_library/include/robowflex_library/planning.h.

◆ DEFAULT_ADAPTERS

const std::vector< std::string > opt::CHOMPPipelinePlanner::DEFAULT_ADAPTERS

staticprotected

The default planning adapters.

Definition at line 487 of file robowflex_library/include/robowflex_library/planning.h.

◆ DEFAULT_PLUGIN

const std::string opt::CHOMPPipelinePlanner::DEFAULT_PLUGIN

staticprotected

The default CHOMP plugin.

opt::CHOMPPipelinePlanner

Definition at line 486 of file robowflex_library/include/robowflex_library/planning.h.

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

Public Member Functions

Protected Member Functions

Static Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CHOMPPipelinePlanner() [1/2]

◆ CHOMPPipelinePlanner() [2/2]

Member Function Documentation

◆ finishInitialize()

◆ getPlannerConfigs()

◆ initialize() [1/2]

◆ initialize() [2/2]

◆ operator=()

Member Data Documentation

◆ configs_

◆ DEFAULT_ADAPTERS

◆ DEFAULT_PLUGIN