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

#include <planning.h>

Inheritance diagram for robowflex::opt::TrajOptPipelinePlanner:

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

	TrajOptPipelinePlanner (TrajOptPipelinePlanner const &)=delete

void	operator= (TrajOptPipelinePlanner 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 TrajOpt 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...

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::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...

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

static const std::vector< std::string >	DEFAULT_ADAPTERS
	The default planning adapters. 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! TrajOpt planning pipeline.

Definition at line 505 of file robowflex_library/include/robowflex_library/planning.h.

Constructor & Destructor Documentation

◆ TrajOptPipelinePlanner() [1/2]

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

Definition at line 548 of file robowflex_library/src/planning.cpp.

   : PipelinePlanner(robot, name)
 {
 }

◆ TrajOptPipelinePlanner() [2/2]

robowflex::opt::TrajOptPipelinePlanner::TrajOptPipelinePlanner ( TrajOptPipelinePlanner const & )

delete

Member Function Documentation

◆ initialize()

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

Initialize planning pipeline. Loads TrajOpt 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 TrajOpt configuration.
[in]	plugin	Planning plugin to load.
[in]	adapters	Planning adapters to load.

Returns: True upon success, false on failure.

Definition at line 553 of file robowflex_library/src/planning.cpp.

 {
     if (!loadConfig(handler_, config_file))
         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());
  
     pipeline_.reset(new planning_pipeline::PlanningPipeline(robot_->getModelConst(), handler_.getHandle(),
                                                             "planning_plugin", "request_adapters"));
  
     return true;
 }

◆ operator=()

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

delete

Member Data Documentation

◆ DEFAULT_ADAPTERS

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

staticprotected

The default planning adapters.

Definition at line 528 of file robowflex_library/include/robowflex_library/planning.h.

◆ DEFAULT_PLUGIN

const std::string opt::TrajOptPipelinePlanner::DEFAULT_PLUGIN

staticprotected

The default TrajOpt plugin.

opt::TrajOptPipelinePlanner

Definition at line 527 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

Additional Inherited Members