OpenRAVE implementation of the Family planner, which plans over the family defined by the family module. More...

#include <planner_family.h>

Inheritance diagram for or_lemur::FamilyPlanner:

Classes
struct	CurrentFamily

struct	SetCache

Public Member Functions
	FamilyPlanner (OpenRAVE::EnvironmentBasePtr env)

bool	InitPlan (OpenRAVE::RobotBasePtr robot, std::istream &isParameters)

bool	InitPlan (OpenRAVE::RobotBasePtr robot, OpenRAVE::PlannerBase::PlannerParametersConstPtr params)

OpenRAVE::PlannerBase::PlannerParametersConstPtr	GetParameters () const

OpenRAVE::PlannerStatus	PlanPath (OpenRAVE::TrajectoryBasePtr)

bool	CmdSaveSetCaches (std::ostream &sout, std::istream &sin)

bool	CmdResetFamily (std::ostream &sout, std::istream &sin)

bool	CmdGetTimes (std::ostream &sout, std::istream &sin) const

Public Attributes
boost::shared_ptr< CurrentFamily >	_current_family

bool	_initialized

Detailed Description

OpenRAVE implementation of the Family planner, which plans over the family defined by the family module.

Semantics: in contrast to most OpenRAVE planners, the family planner is stateful between calls to InitPlan(). The (family) state can be cleared via a call to ResetFamily().

The family (i.e. the robot kinematics hash and its activedofs) is constructed from the family module and must be consistent.

Roadmap params are only meaningful on the first call to InitPlan(), and cannot be changed between calls.

Cached set params – the sets which have associated cache files if these sets don't already exist in the family, they will be added (transiently, like $live) – to name them, name them in the family!

Todo:: planner currently plans with the passed robot's activedofs (not with the robot / activedofs in the param's configspec)

for now, the family and setcaches must be consistent between calls

Todo:: allow dynamic family and setcaches

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

or_lemur/include/or_lemur/planner_family.h
or_lemur/src/planner_family.cpp

Classes

Public Member Functions

Public Attributes

Detailed Description