tesseract_robotics.tesseract_motion_planners_ompl

This module provides access to the OMPL motion planner library. OMPL provides a large number of motion planners. The exact planner is configured using the planner “profiles” available in This module. Planning is typically done using the tesseract_task_composer interface.

Classes

BKPIECE1Configurator Class

BiTRRTConfigurator Class

ESTConfigurator Class

KPIECE1Configurator Class

LBKPIECE1Configurator Class

LazyPRMstarConfigurator Class

OMPLDefaultPlanProfile Class

OMPLMotionPlanner Class

OMPLPlanProfile Class

OMPLPlannerConfigurator Class

OMPLProblem Class

OMPLProblemConfig Class

OMPLProblemGeneratorFn Class

OMPLProblemGeneratorFnBase Class

PRMConfigurator Class

PRMstarConfigurator Class

RRTConfigurator Class

RRTConnectConfigurator Class

RRTstarConfigurator Class

SBLConfigurator Class

SPARSConfigurator Class

TRRTConfigurator Class

Functions

ProfileDictionary_addProfile_OMPLPlanProfile Function

ProfileDictionary_getProfileEntry_OMPLPlanProfile Function

ProfileDictionary_getProfile_OMPLPlanProfile Function

ProfileDictionary_hasProfileEntry_OMPLPlanProfile Function

ProfileDictionary_hasProfile_OMPLPlanProfile Function

ProfileDictionary_removeProfileEntry_OMPLPlanProfile Function

ProfileDictionary_removeProfile_OMPLPlanProfile Function

omplPlanFromXMLDocument Function

omplPlanFromXMLElement Function

omplPlanFromXMLFile Function

omplPlanFromXMLString Function

omplPlanParser Function

toXMLDocument Function

toXMLFile Function

toXMLString Function

Constants

  • OMPLPlannerType_BKPIECE1

  • OMPLPlannerType_BiTRRT

  • OMPLPlannerType_EST

  • OMPLPlannerType_KPIECE1

  • OMPLPlannerType_LBKPIECE1

  • OMPLPlannerType_LazyPRMstar

  • OMPLPlannerType_PRM

  • OMPLPlannerType_PRMstar

  • OMPLPlannerType_RRT

  • OMPLPlannerType_RRTConnect

  • OMPLPlannerType_RRTstar

  • OMPLPlannerType_SBL

  • OMPLPlannerType_SPARS

  • OMPLPlannerType_TRRT

  • OMPLProblemStateSpace_REAL_CONSTRAINTED_STATE_SPACE

  • OMPLProblemStateSpace_REAL_STATE_SPACE

  • OMPLProblemStateSpace_SE3_STATE_SPACE

Container Templates

  • OMPLPlanProfileMap -> std::unordered_map<std::string, std::shared_ptr<const tesseract_planning::OMPLPlanProfile>>

  • OMPLPlanners -> std::vector<tesseract_planning::OMPLPlannerConfigurator::ConstPtr>

  • OMPLProblems -> std::vector<std::shared_ptr<tesseract_planning::OMPLProblem>>