robowflex::OMPL Namespace Reference

OMPL specific planners and features. More...

Classes
class	Cob4OMPLPipelinePlanner
	Convenience class for the default motion planning pipeline for Cob4. More...
class	FetchOMPLPipelinePlanner
	Convenience class for the default motion planning pipeline for Fetch. More...
class	R2OMPLPipelinePlanner
	Convenience class for the default motion planning pipeline for R2 (R2C6 full). More...
class	UR5OMPLPipelinePlanner
	Convenience class for the default motion planning pipeline for UR5. More...
class	Settings
	Settings descriptor for settings provided by the default MoveIt! OMPL planning pipeline. More...
class	OMPLPipelinePlanner
	A robowflex::PipelinePlanner that uses the MoveIt! default OMPL planning pipeline. More...
class	OMPLInterfacePlanner
	A planner that directly uses MoveIt!'s OMPL planning interface. More...
class	OMPLTrajectory
	OMPLTrajectory provides OMPL path utilities to the Trajectory class. More...

Functions
bool	loadOMPLConfig (IO::Handler &handler, const std::string &config_file, std::vector< std::string > &configs)
	Loads an OMPL configuration YAML file onto the parameter server. More...

Detailed Description

OMPL specific planners and features.

Function Documentation

loadOMPLConfig()

bool robowflex::OMPL::loadOMPLConfig	(	IO::Handler &	handler,
		const std::string &	config_file,
		std::vector< std::string > &	configs
	)

Loads an OMPL configuration YAML file onto the parameter server.

OMPL

Definition at line 271 of file robowflex_library/src/planning.cpp.

{
    if (config_file.empty())
        return false;
 
    const auto &config = IO::loadFileToYAML(config_file);
    if (!config.first)
    {
        RBX_ERROR("Failed to load planner configs.");
        return false;
    }
 
    handler.loadYAMLtoROS(config.second);
 
    const auto &planner_configs = config.second["planner_configs"];
    if (planner_configs)
    {
        for (YAML::const_iterator it = planner_configs.begin(); it != planner_configs.end(); ++it)
            configs.push_back(it->first.as<std::string>());
    }
 
    return true;
}