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[Personalrobots-commit] SF.net SVN: personalrobots:[17857] pkg/trunk
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From: <is...@us...> - 2009-06-29 16:06:42
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Revision: 17857
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=17857&view=rev
Author: isucan
Date: 2009-06-29 16:06:40 +0000 (Mon, 29 Jun 2009)
Log Message:
-----------
added the kinematic:: prefix to known planners (we will be adding dynamic ones as well)
Modified Paths:
--------------
pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/RKPModel.h
pkg/trunk/motion_planning/ompl_planning/src/helpers/RKPModel.cpp
pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPESTSetup.cpp
pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPIKKPIECESetup.cpp
pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPIKSBLSetup.cpp
pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPKPIECESetup.cpp
pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPLBKPIECESetup.cpp
pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPLazyRRTSetup.cpp
pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPRRTSetup.cpp
pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPSBLSetup.cpp
pkg/trunk/stacks/pr2/pr2_defs/planning/planning.yaml
Modified: pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/RKPModel.h
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/RKPModel.h 2009-06-29 16:00:27 UTC (rev 17856)
+++ pkg/trunk/motion_planning/ompl_planning/include/kinematic_planning/RKPModel.h 2009-06-29 16:06:40 UTC (rev 17857)
@@ -76,14 +76,14 @@
protected:
- void addRRT(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options);
- void addLazyRRT(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options);
- void addEST(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options);
- void addSBL(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options);
- void addIKSBL(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options);
- void addKPIECE(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options);
- void addLBKPIECE(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options);
- void addIKKPIECE(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options);
+ void add_kRRT(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options);
+ void add_kLazyRRT(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options);
+ void add_kEST(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options);
+ void add_kSBL(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options);
+ void add_kIKSBL(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options);
+ void add_kKPIECE(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options);
+ void add_kLBKPIECE(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options);
+ void add_kIKKPIECE(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options);
};
Modified: pkg/trunk/motion_planning/ompl_planning/src/helpers/RKPModel.cpp
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/src/helpers/RKPModel.cpp 2009-06-29 16:00:27 UTC (rev 17856)
+++ pkg/trunk/motion_planning/ompl_planning/src/helpers/RKPModel.cpp 2009-06-29 16:06:40 UTC (rev 17857)
@@ -43,35 +43,35 @@
for (unsigned int i = 0 ; i < cfgs.size() ; ++i)
{
std::string type = cfgs[i]->getParamString("type");
- if (type == "RRT")
- addRRT(cfgs[i]);
+ if (type == "kinematic::RRT")
+ add_kRRT(cfgs[i]);
else
- if (type == "LazyRRT")
- addLazyRRT(cfgs[i]);
+ if (type == "kinematic::LazyRRT")
+ add_kLazyRRT(cfgs[i]);
else
- if (type == "EST")
- addEST(cfgs[i]);
+ if (type == "kinematic::EST")
+ add_kEST(cfgs[i]);
else
- if (type == "SBL")
- addSBL(cfgs[i]);
+ if (type == "kinematic::SBL")
+ add_kSBL(cfgs[i]);
else
- if (type == "KPIECE")
- addKPIECE(cfgs[i]);
+ if (type == "kinematic::KPIECE")
+ add_kKPIECE(cfgs[i]);
else
- if (type == "LBKPIECE")
- addLBKPIECE(cfgs[i]);
+ if (type == "kinematic::LBKPIECE")
+ add_kLBKPIECE(cfgs[i]);
else
- if (type == "IKSBL")
- addIKSBL(cfgs[i]);
+ if (type == "kinematic::IKSBL")
+ add_kIKSBL(cfgs[i]);
else
- if (type == "IKKPIECE")
- addIKKPIECE(cfgs[i]);
+ if (type == "kinematic::IKKPIECE")
+ add_kIKKPIECE(cfgs[i]);
else
ROS_WARN("Unknown planner type: %s", type.c_str());
}
}
-void kinematic_planning::RKPModel::addRRT(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options)
+void kinematic_planning::RKPModel::add_kRRT(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options)
{
RKPPlannerSetup *rrt = new RKPRRTSetup(dynamic_cast<RKPModelBase*>(this));
if (rrt->setup(options))
@@ -80,7 +80,7 @@
delete rrt;
}
-void kinematic_planning::RKPModel::addLazyRRT(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options)
+void kinematic_planning::RKPModel::add_kLazyRRT(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options)
{
RKPPlannerSetup *rrt = new RKPLazyRRTSetup(dynamic_cast<RKPModelBase*>(this));
if (rrt->setup(options))
@@ -89,7 +89,7 @@
delete rrt;
}
-void kinematic_planning::RKPModel::addEST(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options)
+void kinematic_planning::RKPModel::add_kEST(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options)
{
RKPPlannerSetup *est = new RKPESTSetup(dynamic_cast<RKPModelBase*>(this));
if (est->setup(options))
@@ -98,7 +98,7 @@
delete est;
}
-void kinematic_planning::RKPModel::addSBL(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options)
+void kinematic_planning::RKPModel::add_kSBL(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options)
{
RKPPlannerSetup *sbl = new RKPSBLSetup(dynamic_cast<RKPModelBase*>(this));
if (sbl->setup(options))
@@ -107,7 +107,7 @@
delete sbl;
}
-void kinematic_planning::RKPModel::addIKSBL(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options)
+void kinematic_planning::RKPModel::add_kIKSBL(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options)
{
RKPPlannerSetup *sbl = new RKPIKSBLSetup(dynamic_cast<RKPModelBase*>(this));
if (sbl->setup(options))
@@ -116,7 +116,7 @@
delete sbl;
}
-void kinematic_planning::RKPModel::addKPIECE(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options)
+void kinematic_planning::RKPModel::add_kKPIECE(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options)
{
RKPPlannerSetup *kpiece = new RKPKPIECESetup(dynamic_cast<RKPModelBase*>(this));
if (kpiece->setup(options))
@@ -125,7 +125,7 @@
delete kpiece;
}
-void kinematic_planning::RKPModel::addLBKPIECE(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options)
+void kinematic_planning::RKPModel::add_kLBKPIECE(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options)
{
RKPPlannerSetup *kpiece = new RKPLBKPIECESetup(dynamic_cast<RKPModelBase*>(this));
if (kpiece->setup(options))
@@ -135,7 +135,7 @@
}
-void kinematic_planning::RKPModel::addIKKPIECE(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options)
+void kinematic_planning::RKPModel::add_kIKKPIECE(boost::shared_ptr<planning_environment::RobotModels::PlannerConfig> &options)
{
RKPPlannerSetup *kpiece = new RKPIKKPIECESetup(dynamic_cast<RKPModelBase*>(this));
if (kpiece->setup(options))
Modified: pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPESTSetup.cpp
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPESTSetup.cpp 2009-06-29 16:00:27 UTC (rev 17856)
+++ pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPESTSetup.cpp 2009-06-29 16:06:40 UTC (rev 17857)
@@ -39,7 +39,7 @@
kinematic_planning::RKPESTSetup::RKPESTSetup(RKPModelBase *m) : RKPPlannerSetup(m)
{
- name = "EST";
+ name = "kinematic::EST";
priority = 1;
}
Modified: pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPIKKPIECESetup.cpp
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPIKKPIECESetup.cpp 2009-06-29 16:00:27 UTC (rev 17856)
+++ pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPIKKPIECESetup.cpp 2009-06-29 16:06:40 UTC (rev 17857)
@@ -38,7 +38,7 @@
kinematic_planning::RKPIKKPIECESetup::RKPIKKPIECESetup(RKPModelBase *m) : RKPPlannerSetup(m)
{
- name = "IKKPIECE";
+ name = "kinematic::IKKPIECE";
priority = 5;
}
Modified: pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPIKSBLSetup.cpp
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPIKSBLSetup.cpp 2009-06-29 16:00:27 UTC (rev 17856)
+++ pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPIKSBLSetup.cpp 2009-06-29 16:06:40 UTC (rev 17857)
@@ -38,7 +38,7 @@
kinematic_planning::RKPIKSBLSetup::RKPIKSBLSetup(RKPModelBase *m) : RKPPlannerSetup(m)
{
- name = "IKSBL";
+ name = "kinematic::IKSBL";
priority = 4;
}
Modified: pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPKPIECESetup.cpp
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPKPIECESetup.cpp 2009-06-29 16:00:27 UTC (rev 17856)
+++ pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPKPIECESetup.cpp 2009-06-29 16:06:40 UTC (rev 17857)
@@ -38,7 +38,7 @@
kinematic_planning::RKPKPIECESetup::RKPKPIECESetup(RKPModelBase *m) : RKPPlannerSetup(m)
{
- name = "KPIECE";
+ name = "kinematic::KPIECE";
priority = 3;
}
Modified: pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPLBKPIECESetup.cpp
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPLBKPIECESetup.cpp 2009-06-29 16:00:27 UTC (rev 17856)
+++ pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPLBKPIECESetup.cpp 2009-06-29 16:06:40 UTC (rev 17857)
@@ -38,7 +38,7 @@
kinematic_planning::RKPLBKPIECESetup::RKPLBKPIECESetup(RKPModelBase *m) : RKPPlannerSetup(m)
{
- name = "LBKPIECE";
+ name = "kinematic::LBKPIECE";
priority = 11;
}
Modified: pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPLazyRRTSetup.cpp
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPLazyRRTSetup.cpp 2009-06-29 16:00:27 UTC (rev 17856)
+++ pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPLazyRRTSetup.cpp 2009-06-29 16:06:40 UTC (rev 17857)
@@ -38,7 +38,7 @@
kinematic_planning::RKPLazyRRTSetup::RKPLazyRRTSetup(RKPModelBase *m) : RKPPlannerSetup(m)
{
- name = "LazyRRT";
+ name = "kinematic::LazyRRT";
priority = 2;
}
Modified: pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPRRTSetup.cpp
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPRRTSetup.cpp 2009-06-29 16:00:27 UTC (rev 17856)
+++ pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPRRTSetup.cpp 2009-06-29 16:06:40 UTC (rev 17857)
@@ -38,7 +38,7 @@
kinematic_planning::RKPRRTSetup::RKPRRTSetup(RKPModelBase *m) : RKPPlannerSetup(m)
{
- name = "RRT";
+ name = "kinematic::RRT";
priority = 2;
}
Modified: pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPSBLSetup.cpp
===================================================================
--- pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPSBLSetup.cpp 2009-06-29 16:00:27 UTC (rev 17856)
+++ pkg/trunk/motion_planning/ompl_planning/src/helpers/ompl_planner/RKPSBLSetup.cpp 2009-06-29 16:06:40 UTC (rev 17857)
@@ -38,7 +38,7 @@
kinematic_planning::RKPSBLSetup::RKPSBLSetup(RKPModelBase *m) : RKPPlannerSetup(m)
{
- name = "SBL";
+ name = "kinematic::SBL";
priority = 10;
}
Modified: pkg/trunk/stacks/pr2/pr2_defs/planning/planning.yaml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_defs/planning/planning.yaml 2009-06-29 16:00:27 UTC (rev 17856)
+++ pkg/trunk/stacks/pr2/pr2_defs/planning/planning.yaml 2009-06-29 16:06:40 UTC (rev 17857)
@@ -74,55 +74,55 @@
planner_configs:
RRTConfig1:
- type: RRT
+ type: kinematic::RRT
range: 0.75
LazyRRTConfig1:
- type: LazyRRT
+ type: kinematic::LazyRRT
range: 0.75
SBLConfig1:
- type: SBL
+ type: kinematic::SBL
projection: 0 1
celldim: 1 1
range: 0.5
KPIECEConfig1:
- type: KPIECE
+ type: kinematic::KPIECE
projection: 0 1
celldim: 1 1
range: 0.5
RRTConfig2:
- type: RRT
+ type: kinematic::RRT
range: 0.75
SBLConfig2:
- type: SBL
+ type: kinematic::SBL
projection: 5 6
celldim: 0.1 0.1
KPIECEConfig2l:
- type: KPIECE
+ type: kinematic::KPIECE
projection: link l_wrist_roll_link
celldim: 0.1 0.1 0.1
KPIECEConfig2r:
- type: KPIECE
+ type: kinematic::KPIECE
projection: link r_wrist_roll_link
celldim: 0.1 0.1 0.1
LBKPIECEConfig1:
- type: LBKPIECE
+ type: kinematic::LBKPIECE
projection: 5 6
celldim: 0.1 0.1
LBKPIECEConfig2r:
- type: LBKPIECE
+ type: kinematic::LBKPIECE
projection: link r_wrist_roll_link
celldim: 0.1 0.1 0.1
LBKPIECEConfig2l:
- type: LBKPIECE
+ type: kinematic::LBKPIECE
projection: link l_wrist_roll_link
celldim: 0.1 0.1 0.1
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