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Allow user to specify planner termination condition. #1695

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merged 13 commits into from
Nov 21, 2019
Merged

Allow user to specify planner termination condition. #1695

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d6cd469
Add OMPL planner 'AnytimePathShortening'
henningkayser Aug 16, 2019
a3c0a30
clean up registration of planner allocators
mamoll Oct 8, 2019
c07ee4f
add parameter to geometric::AnytimePathShortening method to set plann…
mamoll Oct 8, 2019
f459ebe
clang-format
mamoll Oct 16, 2019
c90e38f
add support for specifying planner termination conditions via ompl_pl…
mamoll Oct 16, 2019
5b206bf
add OMPL version check to make new feature backwards compatible with …
mamoll Oct 18, 2019
d7044c7
fix catkin_lint warning
mamoll Oct 24, 2019
25d2a29
fix compiler warning
mamoll Nov 4, 2019
392c028
Merge branch 'master' into pr-terminationcondition
mamoll Nov 4, 2019
265a135
fix logical error (ROS_ERROR is not fatal)
mamoll Nov 20, 2019
3adc39a
add docs for setting termination condition
mamoll Nov 20, 2019
e3dd92c
add note to remove #if guard for OMPL version once support for Melodi…
mamoll Nov 20, 2019
e63564c
correct/add TODOs for OMPL version checks
mamoll Nov 20, 2019
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clean up registration of planner allocators
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@mamoll
mamoll committed Oct 8, 2019
commit a3c0a30161e1803df9f18af4f3dc309502540c03
102 changes: 25 additions & 77 deletions moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -134,83 +134,31 @@ ompl_interface::PlanningContextManager::plannerSelector(const std::string& plann

void ompl_interface::PlanningContextManager::registerDefaultPlanners()
{
registerPlannerAllocator( //
"geometric::AnytimePathShortening", //
std::bind(&allocatePlanner<og::AnytimePathShortening>, std::placeholders::_1, std::placeholders::_2,
std::placeholders::_3));
registerPlannerAllocator( //
"geometric::RRT", //
std::bind(&allocatePlanner<og::RRT>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
registerPlannerAllocator( //
"geometric::RRTConnect", //
std::bind(&allocatePlanner<og::RRTConnect>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
registerPlannerAllocator( //
"geometric::LazyRRT", //
std::bind(&allocatePlanner<og::LazyRRT>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
registerPlannerAllocator( //
"geometric::TRRT", //
std::bind(&allocatePlanner<og::TRRT>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
registerPlannerAllocator( //
"geometric::EST", //
std::bind(&allocatePlanner<og::EST>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
registerPlannerAllocator( //
"geometric::SBL", //
std::bind(&allocatePlanner<og::SBL>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
registerPlannerAllocator( //
"geometric::KPIECE", //
std::bind(&allocatePlanner<og::KPIECE1>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
registerPlannerAllocator( //
"geometric::BKPIECE", //
std::bind(&allocatePlanner<og::BKPIECE1>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
registerPlannerAllocator( //
"geometric::LBKPIECE", //
std::bind(&allocatePlanner<og::LBKPIECE1>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
registerPlannerAllocator( //
"geometric::RRTstar", //
std::bind(&allocatePlanner<og::RRTstar>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
registerPlannerAllocator( //
"geometric::PRM", //
std::bind(&allocatePlanner<og::PRM>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
registerPlannerAllocator( //
"geometric::PRMstar", //
std::bind(&allocatePlanner<og::PRMstar>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
registerPlannerAllocator( //
"geometric::FMT", //
std::bind(&allocatePlanner<og::FMT>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
registerPlannerAllocator( //
"geometric::BFMT", //
std::bind(&allocatePlanner<og::BFMT>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
registerPlannerAllocator( //
"geometric::PDST", //
std::bind(&allocatePlanner<og::PDST>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
registerPlannerAllocator( //
"geometric::STRIDE", //
std::bind(&allocatePlanner<og::STRIDE>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
registerPlannerAllocator( //
"geometric::BiTRRT", //
std::bind(&allocatePlanner<og::BiTRRT>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
registerPlannerAllocator( //
"geometric::LBTRRT", //
std::bind(&allocatePlanner<og::LBTRRT>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
registerPlannerAllocator( //
"geometric::BiEST", //
std::bind(&allocatePlanner<og::BiEST>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
registerPlannerAllocator( //
"geometric::ProjEST", //
std::bind(&allocatePlanner<og::ProjEST>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
registerPlannerAllocator( //
"geometric::LazyPRM", //
std::bind(&allocatePlanner<og::LazyPRM>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
registerPlannerAllocator( //
"geometric::LazyPRMstar", //
std::bind(&allocatePlanner<og::LazyPRMstar>, std::placeholders::_1, std::placeholders::_2,
std::placeholders::_3));
registerPlannerAllocator( //
"geometric::SPARS", //
std::bind(&allocatePlanner<og::SPARS>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
registerPlannerAllocator( //
"geometric::SPARStwo", //
std::bind(&allocatePlanner<og::SPARStwo>, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
registerPlannerAllocator("geometric::AnytimePathShortening", allocatePlanner<og::AnytimePathShortening>);
registerPlannerAllocator("geometric::BFMT", allocatePlanner<og::BFMT>);
registerPlannerAllocator("geometric::BiEST", allocatePlanner<og::BiEST>);
registerPlannerAllocator("geometric::BiTRRT", allocatePlanner<og::BiTRRT>);
registerPlannerAllocator("geometric::BKPIECE", allocatePlanner<og::BKPIECE1>);
registerPlannerAllocator("geometric::EST", allocatePlanner<og::EST>);
registerPlannerAllocator("geometric::FMT", allocatePlanner<og::FMT>);
registerPlannerAllocator("geometric::KPIECE", allocatePlanner<og::KPIECE1>);
registerPlannerAllocator("geometric::LazyPRM",allocatePlanner<og::LazyPRM>);
registerPlannerAllocator("geometric::LazyPRMstar", allocatePlanner<og::LazyPRMstar>);
registerPlannerAllocator("geometric::LazyRRT", allocatePlanner<og::LazyRRT>);
registerPlannerAllocator("geometric::LBKPIECE", allocatePlanner<og::LBKPIECE1>);
registerPlannerAllocator("geometric::LBTRRT", allocatePlanner<og::LBTRRT>);
registerPlannerAllocator("geometric::PDST", allocatePlanner<og::PDST>);
registerPlannerAllocator("geometric::PRM", allocatePlanner<og::PRM>);
registerPlannerAllocator("geometric::PRMstar",allocatePlanner<og::PRMstar>);
registerPlannerAllocator("geometric::ProjEST",allocatePlanner<og::ProjEST>);
registerPlannerAllocator("geometric::RRT", allocatePlanner<og::RRT>);
registerPlannerAllocator("geometric::RRTConnect", allocatePlanner<og::RRTConnect>);
registerPlannerAllocator("geometric::RRTstar", allocatePlanner<og::RRTstar>);
registerPlannerAllocator("geometric::SBL", allocatePlanner<og::SBL>);
registerPlannerAllocator("geometric::SPARS", allocatePlanner<og::SPARS>);
registerPlannerAllocator("geometric::SPARStwo",allocatePlanner<og::SPARStwo>);
registerPlannerAllocator("geometric::STRIDE", allocatePlanner<og::STRIDE>);
registerPlannerAllocator("geometric::TRRT", allocatePlanner<og::TRRT>);
}

void ompl_interface::PlanningContextManager::registerDefaultStateSpaces()
Expand Down