Planner.hpp

Go to the documentation of this file.

#ifndef AIKIDO_OMPL_OMPLPLANNER_HPP_
#define AIKIDO_OMPL_OMPLPLANNER_HPP_
 
#include <chrono>
#include <utility> // std::pair
 
#include <ompl/base/Planner.h>
#include <ompl/base/ProblemDefinition.h>
#include <ompl/base/ScopedState.h>
#include <ompl/base/SpaceInformation.h>
#include <ompl/base/goals/GoalRegion.h>
#include <ompl/geometric/PathSimplifier.h>
 
#include "aikido/constraint/Projectable.hpp"
#include "aikido/constraint/Sampleable.hpp"
#include "aikido/constraint/Testable.hpp"
#include "aikido/distance/DistanceMetric.hpp"
#include "aikido/planner/ompl/BackwardCompatibility.hpp"
#include "aikido/planner/ompl/GeometricStateSpace.hpp"
#include "aikido/statespace/Interpolator.hpp"
#include "aikido/statespace/StateSpace.hpp"
#include "aikido/trajectory/Interpolated.hpp"
 
namespace aikido {
namespace planner {
namespace ompl {
 
template <class PlannerType>
trajectory::InterpolatedPtr planOMPL(
    const statespace::StateSpace::State* _start,
    const statespace::StateSpace::State* _goal,
    statespace::ConstStateSpacePtr _stateSpace,
    statespace::InterpolatorPtr _interpolator,
    distance::DistanceMetricPtr _dmetric,
    constraint::SampleablePtr _sampler,
    constraint::TestablePtr _validityConstraint,
    constraint::TestablePtr _boundsConstraint,
    constraint::ProjectablePtr _boundsProjector,
    double _maxPlanTime,
    double _maxDistanceBtwValidityChecks);
 
template <class PlannerType>
trajectory::InterpolatedPtr planOMPL(
    const statespace::StateSpace::State* _start,
    constraint::TestablePtr _goalTestable,
    constraint::SampleablePtr _goalSampler,
    statespace::ConstStateSpacePtr _stateSpace,
    statespace::InterpolatorPtr _interpolator,
    distance::DistanceMetricPtr _dmetric,
    constraint::SampleablePtr _sampler,
    constraint::TestablePtr _validityConstraint,
    constraint::TestablePtr _boundsConstraint,
    constraint::ProjectablePtr _boundsProjector,
    double _maxPlanTime,
    double _maxDistanceBtwValidityChecks);
 
trajectory::InterpolatedPtr planCRRT(
    const statespace::StateSpace::State* _start,
    constraint::TestablePtr _goalTestable,
    constraint::SampleablePtr _goalSampler,
    constraint::ProjectablePtr _trajConstraint,
    statespace::ConstStateSpacePtr _stateSpace,
    statespace::InterpolatorPtr _interpolator,
    distance::DistanceMetricPtr _dmetric,
    constraint::SampleablePtr _sampler,
    constraint::TestablePtr _validityConstraint,
    constraint::TestablePtr _boundsConstraint,
    constraint::ProjectablePtr _boundsProjector,
    double _maxPlanTime,
    double _maxExtensionDistance,
    double _maxDistanceBtwProjections,
    double _minStepsize);
 
trajectory::InterpolatedPtr planCRRTConnect(
    const statespace::StateSpace::State* _start,
    constraint::TestablePtr _goalTestable,
    constraint::SampleablePtr _goalSampler,
    constraint::ProjectablePtr _trajConstraint,
    statespace::ConstStateSpacePtr _stateSpace,
    statespace::InterpolatorPtr _interpolator,
    distance::DistanceMetricPtr _dmetric,
    constraint::SampleablePtr _sampler,
    constraint::TestablePtr _validityConstraint,
    constraint::TestablePtr _boundsConstraint,
    constraint::ProjectablePtr _boundsProjector,
    double _maxPlanTime,
    double _maxExtensionDistance,
    double _maxDistanceBtwProjections,
    double _minStepsize,
    double _minTreeConnectionDistance);
 
::ompl::base::SpaceInformationPtr getSpaceInformation(
    statespace::ConstStateSpacePtr _stateSpace,
    statespace::InterpolatorPtr _interpolator,
    distance::DistanceMetricPtr _dmetric,
    constraint::SampleablePtr _sampler,
    constraint::TestablePtr _validityConstraint,
    constraint::TestablePtr _boundsConstraint,
    constraint::ProjectablePtr _boundsProjector,
    double _maxDistanceBtwValidityChecks);
 
ompl_shared_ptr<::ompl::base::GoalRegion> getGoalRegion(
    ::ompl::base::SpaceInformationPtr _si,
    constraint::TestablePtr _goalTestable,
    constraint::SampleablePtr _goalSampler);
 
trajectory::InterpolatedPtr planOMPL(
    const ::ompl::base::PlannerPtr& _planner,
    const ::ompl::base::ProblemDefinitionPtr& _pdef,
    statespace::ConstStateSpacePtr _sspace,
    statespace::InterpolatorPtr _interpolator,
    double _maxPlanTime);
 
std::pair<std::unique_ptr<trajectory::Interpolated>, bool> simplifyOMPL(
    statespace::StateSpacePtr _stateSpace,
    statespace::InterpolatorPtr _interpolator,
    distance::DistanceMetricPtr _dmetric,
    constraint::SampleablePtr _sampler,
    constraint::TestablePtr _validityConstraint,
    constraint::TestablePtr _boundsConstraint,
    constraint::ProjectablePtr _boundsProjector,
    double _maxDistanceBtwValidityChecks,
    double _timeout,
    std::size_t _maxEmptySteps,
    trajectory::InterpolatedPtr _originalTraj);
 
::ompl::geometric::PathGeometric toOMPLTrajectory(
    const trajectory::InterpolatedPtr& _interpolatedTraj,
    ::ompl::base::SpaceInformationPtr _si);
 
std::unique_ptr<trajectory::Interpolated> toInterpolatedTrajectory(
    const ::ompl::geometric::PathGeometric& _path,
    statespace::InterpolatorPtr _interpolator);
 
} // namespace ompl
} // namespace planner
} // namespace aikido
 
#include "detail/Planner-impl.hpp"
 
#endif