A class for implementing motion planners. More...

Inheritance diagram for optas.templates.ROSPlanner:

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Collaboration diagram for optas.templates.ROSPlanner:

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Public Member Functions
def	__init__ (self, Any rosapi, int rosver, Union[None, str] config_filename, bool record_solver_perf=False)
	Initializer for the ROSPlanner class. More...

None	set_duration (self, float duration)

Union[None, float]	get_duration (self)

interpolate.interp1d	plan (self)
	Solve the planning problem. More...

Public Member Functions inherited from optas.templates.ROSManager
None	add_subscriber (self, str topic_name, Any msg_type)
	Creates a subscriber. More...

Any	get_state (self, str topic_name)
	Get the most current message. More...

bool	is_ready (self)
	True when messages have been recieved on all topics. More...

None	publish_target (self, cs.DM target)
	Publish a target to ROS. More...

None	create_state_listener (self)
	Creates the state listener. More...

Public Member Functions inherited from optas.templates.Manager
def	__init__ (self, Union[None, str] config_filename=None, bool record_solver_perf=False)
	Initializer for the Manger class. More...

None	reset_manager (self)
	Reset basic variables in the manager. More...

float	get_solver_duration (self)
	Returns the duration of the solver. More...

bool	is_first_solve (self)
	True when the solver is being run for the first time. More...

None	setup_solver (self)
	Abstract methods. More...

None	reset (self)
	Reset the optimization problem. More...

cs.DM	get_target (self)
	Return the target from the solution. More...

Public Attributes
	duration
	Duration of the motion plan (set using set_duration). More...

Public Attributes inherited from optas.templates.ROSManager
	rosapi
	For ROS 1, this is rospy (ie. More...

	rosver
	ROS version (i.e. More...

	Float64MultiArray
	Float array message type. More...

	target_pub
	Target publisher. More...

	msgs
	Dictionary containing messages from the state listener. More...

Public Attributes inherited from optas.templates.Manager
	config_filename

	record_solver_perf

	config

	solver

	solve

	num_solves

	solver_duration

	solution

Additional Inherited Members
Static Public Attributes inherited from optas.templates.ROSManager
dictionary	state_listener = {}
	ROS state listener. More...

Detailed Description

A class for implementing motion planners.

Constructor & Destructor Documentation

◆ init()

def optas.templates.ROSPlanner.__init__	(		self,
		Any	rosapi,
		int	rosver,
		Union[None, str]	config_filename,
		bool	record_solver_perf = `False`
	)

Initializer for the ROSPlanner class.

   @param rosapi For ROS 1, this is rospy (ie. import rospy, and pass the module). For ROS 2, this is the node.
   @param rosver When using ROS 1, pass 1, and if using ROS 2, pass 2.
   @param config_filename Filename for a YAML configuration file. When None is passed, it is assumed there is no configuration.
   @param record_solver_perf When true the solver duration is recorded when there is a call to solve.
   @return An instance of the ROSPlanner class.

Reimplemented from optas.templates.ROSManager.

Member Function Documentation

◆ get_duration()

Union[None, float] optas.templates.ROSPlanner.get_duration ( self )

Return duration for the motion plan. When None is returned, this means that the duration is not yet set.

@return Duration of the motion plan.

◆ plan()

interpolate.interp1d optas.templates.ROSPlanner.plan ( self )

Solve the planning problem.

Reset the problem, solve the problem, and interpolate the result.

   @return The interpolated plan as a function of time.

◆ set_duration()

None optas.templates.ROSPlanner.set_duration	(		self,
		float	duration
	)

Set the duration for the motion plan.

Member Data Documentation

◆ duration

optas.templates.ROSPlanner.duration

Duration of the motion plan (set using set_duration).

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

templates.py

Public Member Functions

Public Attributes

Additional Inherited Members