rcprg_planner.rcprg_planner.Planner Class Reference

Class used as planner interface. More...

Public Member Functions
def	plan (self, q_start, goal_constraints, group_name, attached_collision_objects=None, is_diff=False, path_constraints=None, trajectory_constraints=None, workspace_parameters=None, planner_id=None, num_planning_attempts=1, allowed_planning_time=10.0, max_velocity_scaling_factor=1.0, max_acceleration_scaling_factor=1.0, keep_upright=None)
	Plan motion in joint space. More...
def	processWorld (self, octomap)
	Updates occupancy map of the planner. More...
def	__init__ (self, max_traj_len)
	Initialization of Python planner interface. More...
def	waitForInit (self, timeout_s=None)
	Wait until planner interface is not initialized. More...

Public Attributes
	plan_service
	processWorld_service

Detailed Description

Class used as planner interface.

Definition at line 191 of file rcprg_planner.py.

Constructor & Destructor Documentation

__init__()

def rcprg_planner.rcprg_planner.Planner.__init__	(		self,
			max_traj_len
	)

Initialization of Python planner interface.

Parameters

max_traj_len

int: Maximum number of nodes in a planned trajectory.

Definition at line 389 of file rcprg_planner.py.

Member Function Documentation

plan()

def rcprg_planner.rcprg_planner.Planner.plan	(		self,
			q_start,
			goal_constraints,
			group_name,
			attached_collision_objects = None,
			is_diff = False,
			path_constraints = None,
			trajectory_constraints = None,
			workspace_parameters = None,
			planner_id = None,
			num_planning_attempts = 1,
			allowed_planning_time = 10.0,
			max_velocity_scaling_factor = 1.0,
			max_acceleration_scaling_factor = 1.0,
			keep_upright = None
	)

Plan motion in joint space.

Parameters

q_start	dictionary: A dictionary {name:position} of starting configuration.
goal_constraints	list: A list of goal constraints of type moveit_msgs.msg.Constraints.
group_name	string: Name of joint group to perform planning on.
attached_collision_objects	list: Objects attached to robot represented as a list of objects of type moveit_msgs.msg.AttachedCollisionObject.
is_diff
path_constraints	Path constraints of type moveit_msgs.msg.Constraints.
trajectory_constraints	Trajectory constraints of type moveit_msgs.msg.TrajectoryConstraints.
workspace_parameters	Parameters of robots workspace of type moveit_msgs.msg.WorkspaceParameters.
planner_id	string: Name of planning algorithm.
num_planning_attempts	int: Maximum number of planning attempts.
allowed_planning_time	float: Maximum allowed time for planning.
max_velocity_scaling_factor	float: Scaling factor for velocity: the bigger, the faster robot moves.
max_acceleration_scaling_factor	float: Scaling factor for acceleration: the bigger, the faster robot accelerates.

Returns

Returns trajectory_msgs.msg.JointTrajectory.

Definition at line 199 of file rcprg_planner.py.

processWorld()

def rcprg_planner.rcprg_planner.Planner.processWorld	(		self,
			octomap
	)

Updates occupancy map of the planner.

Parameters

octomap

octomap_msgs.msg.Octomap: Occupancy map.

Returns

Returns True if the octomap was succesfully loaded, False otherwise.

Definition at line 362 of file rcprg_planner.py.

waitForInit()

def rcprg_planner.rcprg_planner.Planner.waitForInit	(		self,
			timeout_s = None
	)

Wait until planner interface is not initialized.

Parameters

timeout_s

float: Timeout in seconds.

Returns

Returns True if the Python planner interface was succesfully initialized, False otherwise.

Definition at line 398 of file rcprg_planner.py.

Member Data Documentation

plan_service

rcprg_planner.rcprg_planner.Planner.plan_service

Definition at line 408 of file rcprg_planner.py.

processWorld_service

rcprg_planner.rcprg_planner.Planner.processWorld_service

Definition at line 414 of file rcprg_planner.py.

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

• rcprg_planner/rcprg_planner/src/rcprg_planner/rcprg_planner.py