[interface] Planner interface that generates trajectories for target objects to follow through the environment. If not specified, method is not multi-thread safe. See Planner Concepts. [詳細]
#include <planner.h>
構成 | |
class | PlannerParameters |
Describes a common and serializable interface for planning parameters. [詳細] | |
class | PlannerProgress |
Planner progress information passed to each callback function. [詳細] | |
Public 型 | |
typedef std::list< std::vector < dReal > > | ConfigurationList |
typedef boost::shared_ptr < PlannerBase::ConfigurationList > | ConfigurationListPtr |
typedef boost::shared_ptr < PlannerBase::PlannerParameters > | PlannerParametersPtr |
typedef boost::shared_ptr < PlannerBase::PlannerParameters const > | PlannerParametersConstPtr |
typedef boost::weak_ptr < PlannerBase::PlannerParameters > | PlannerParametersWeakPtr |
typedef boost::function < PlannerAction(const PlannerProgress &)> | PlanCallbackFn |
Callback function during planner execute. | |
![]() | |
typedef std::map< std::string, XMLReadablePtr, CaseInsensitiveCompare > | READERSMAP |
Public メソッド | |
PlannerBase (EnvironmentBasePtr penv) | |
virtual | ~PlannerBase () |
virtual bool | InitPlan (RobotBasePtr robot, PlannerParametersConstPtr params)=0 |
Setup scene, robot, and properties of the plan, and reset all internal structures. | |
virtual bool | InitPlan (RobotBasePtr robot, std::istream &isParameters) |
Setup scene, robot, and properties of the plan, and reset all structures with pparams. | |
virtual PlannerStatus | PlanPath (TrajectoryBasePtr ptraj)=0 |
Executes the main planner trying to solve for the goal condition. | |
virtual PlannerStatus | PlanPath (TrajectoryBasePtr ptraj, boost::shared_ptr< std::ostream > pOutStream) RAVE_DEPRECATED |
virtual PlannerParametersConstPtr | GetParameters () const =0 |
return the internal parameters of the planner | |
virtual UserDataPtr | RegisterPlanCallback (const PlanCallbackFn &callbackfn) |
register a function that is called periodically during the plan loop. | |
![]() | |
InterfaceBase (InterfaceType type, EnvironmentBasePtr penv) | |
virtual | ~InterfaceBase () |
InterfaceType | GetInterfaceType () const |
const std::string & | GetXMLId () const |
const std::string & | GetPluginName () const |
EnvironmentBasePtr | GetEnv () const |
const READERSMAP & | GetReadableInterfaces () const |
Returns the raw map reference, this is not multithread safe and the GetInterfaceMutex should be locked before using. | |
virtual XMLReadablePtr | GetReadableInterface (const std::string &xmltag) const |
Returns the readable interface. [multi-thread safe] | |
virtual XMLReadablePtr | SetReadableInterface (const std::string &xmltag, XMLReadablePtr readable) |
Set a new readable interface and return the previously set interface if it exists. [multi-thread safe] | |
virtual const std::string & | GetDescription () const |
Documentation of the interface in reStructuredText format. See Documenting Interfaces. [multi-thread safe] | |
virtual void | SetDescription (const std::string &description) |
sets a description [multi-thread safe] | |
virtual void | SetUserData (const std::string &key, UserDataPtr data) const |
set user data for a specific key. [multi-thread safe] | |
virtual UserDataPtr | GetUserData (const std::string &key=std::string()) const |
return the user custom data [multi-thread safe] | |
virtual bool | RemoveUserData (const std::string &key) const |
removes a user data pointer. if user data pointer does not exist, then return 0, otherwise 1. [multi-thread safe] | |
virtual void | SetUserData (UserDataPtr data) RAVE_DEPRECATED |
virtual const std::string & | GetURI () const |
the URI used to load the interface (sometimes this is not possible if the definition lies inside an environment file). [multi-thread safe] | |
virtual const std::string & | GetXMLFilename () const |
virtual void | Clone (InterfaceBaseConstPtr preference, int cloningoptions) |
Clone the contents of an interface to the current interface. | |
virtual bool | SendCommand (std::ostream &os, std::istream &is) |
Used to send special commands to the interface and receive output. | |
virtual void | Serialize (BaseXMLWriterPtr writer, int options=0) const |
serializes the interface | |
Static Public メソッド | |
static InterfaceType | GetInterfaceTypeStatic () |
Protected メソッド | |
PlannerBasePtr | shared_planner () |
PlannerBaseConstPtr | shared_planner_const () const |
virtual PlannerStatus | _ProcessPostPlanners (RobotBasePtr probot, TrajectoryBasePtr ptraj) |
Calls a planner to optimizes the trajectory path. | |
virtual bool | _OptimizePath (RobotBasePtr probot, TrajectoryBasePtr ptraj) RAVE_DEPRECATED |
virtual PlannerAction | _CallCallbacks (const PlannerProgress &progress) |
Calls the registered callbacks in order and returns immediately when an action other than PA_None is returned. | |
![]() | |
virtual void | RegisterCommand (const std::string &cmdname, InterfaceCommandFn fncmd, const std::string &strhelp) |
Registers a command and its help string. [multi-thread safe] | |
virtual void | UnregisterCommand (const std::string &cmdname) |
Unregisters the command. [multi-thread safe] | |
virtual boost::shared_mutex & | GetInterfaceMutex () const |
Additional Inherited Members | |
![]() | |
typedef boost::function< bool(std::ostream &, std::istream &)> | InterfaceCommandFn |
The function to be executed for every command. | |
![]() | |
std::string | __description |
[interface] Planner interface that generates trajectories for target objects to follow through the environment. If not specified, method is not multi-thread safe. See Planner Concepts.
typedef std::list< std::vector<dReal> > OpenRAVE::PlannerBase::ConfigurationList |
typedef boost::shared_ptr< PlannerBase::ConfigurationList > OpenRAVE::PlannerBase::ConfigurationListPtr |
typedef boost::function<PlannerAction(const PlannerProgress&)> OpenRAVE::PlannerBase::PlanCallbackFn |
typedef boost::shared_ptr<PlannerBase::PlannerParameters const> OpenRAVE::PlannerBase::PlannerParametersConstPtr |
typedef boost::shared_ptr<PlannerBase::PlannerParameters> OpenRAVE::PlannerBase::PlannerParametersPtr |
typedef boost::weak_ptr<PlannerBase::PlannerParameters> OpenRAVE::PlannerBase::PlannerParametersWeakPtr |
OpenRAVE::PlannerBase::PlannerBase | ( | EnvironmentBasePtr | penv | ) |
planner.cpp の 741 行で定義されています。
|
protectedvirtual |
Calls the registered callbacks in order and returns immediately when an action other than PA_None is returned.
progress | planner progress information |
planner.cpp の 797 行で定義されています。
|
inlineprotectedvirtual |
|
protectedvirtual |
Calls a planner to optimizes the trajectory path.
The PlannerParameters structure passed into the optimization planner is constructed with the same freespace constraints as this planner. This function should always be called in PlanPath to post-process the trajectory.
probot | the robot this trajectory is meant for, also uses the robot for checking collisions. |
ptraj | Initial trajectory to be smoothed is inputted. If optimization path succeeds, final trajectory output is set in this variable. The trajectory is for the configuration degrees of freedom defined by the planner parameters. |
planner.cpp の 761 行で定義されています。
|
inlinestatic |
|
pure virtual |
return the internal parameters of the planner
|
pure virtual |
Setup scene, robot, and properties of the plan, and reset all internal structures.
robot | main robot to be used for planning |
params | The parameters of the planner, any class derived from PlannerParameters can be passed. The planner should copy these parameters for future instead of storing the pointer. |
|
virtual |
Setup scene, robot, and properties of the plan, and reset all structures with pparams.
robot | main robot to be used for planning |
isParameters | The serialized form of the parameters. By default, this exists to allow third parties to pass information to planners without excplicitly knowning the format/internal structures used |
planner.cpp の 745 行で定義されています。
|
pure virtual |
Executes the main planner trying to solve for the goal condition.
Fill ptraj with the trajectory of the planned path that the robot needs to execute
ptraj | The output trajectory the robot has to follow in order to successfully complete the plan. If this planner is a path optimizer, the trajectory can be used as an input for generating a smoother path. The trajectory is for the configuration degrees of freedom defined by the planner parameters. |
|
inlinevirtual |
|
virtual |
register a function that is called periodically during the plan loop.
Allows the calling process to control the behavior of the planner from a high-level perspective
planner.cpp の 754 行で定義されています。
|
inlineprotected |
|
inlineprotected |