pro_rrt Namespace Reference

Namespaces
namespace	internal
namespace	scenario_runner

Classes
struct	Constraints
	Definition of kinematic constraints to take into account during planning. More...
struct	JointRangeConstraint
struct	JointRangeEntry
	One row of the joint_range_constraint BT input port (per-joint tightening of URDF limits). More...
struct	PlanarRotationConstraint
struct	PlanningError
	Definition of planning error return type with a string and optional collision results. More...
class	PlanningTestFixture
struct	RRTParams
	Configuration parameters for the RRT planner. More...
struct	ScenarioInput
struct	ScenarioOutput
	Outcome of a single planTrajectoryToJointGoal(...) call as captured for scenario logging. More...
struct	TrajectoryParams
	Parameters for the trajectory generation. More...
struct	TrajectorySummary
	Summary statistics of the planned trajectory — present iff planning succeeded. More...

Typedefs
using	ContactMap = moveit_pro::base::collision_detection::CollisionResult::ContactMap

Functions
Constraints	createPlanarOrientationConstraint (const moveit_pro::base::LinkModel *link, double angle_tolerance)
	Create planar orientation constraints for a set of links.
tl::expected< JointRangeConstraint, std::string >	buildJointRangeConstraint (const moveit_pro::base::JointModelGroup &group, const std::vector< std::string > &joint_names, const std::vector< double > &lowers, const std::vector< double > &uppers)
	Build a JointRangeConstraint sized to the group's active joints from per-joint bounds.
std::vector< Constraints >	createPlanarOrientationConstraints (const moveit_pro::base::JointModelGroup &joint_model_group, const std::vector< std::string > &constrained_link_names, double angle_tolerance)
	Create planar orientation constraints for a set of links.
tl::expected< trajectory_msgs::msg::JointTrajectory, PlanningError >	planTrajectoryToJointGoal (const moveit_pro::base::JointModelGroup &group, const moveit_pro::base::RobotState &start_state, const moveit_pro::base::RobotState &goal_state, const RRTParams &rrt_params, const std::vector< Constraints > &constraints, const TrajectoryParams &trajectory_params, moveit_pro::base::planning_scene::PlanningScene &planning_scene)
	Plan a trajectory from a start state to a goal state, for the given planning group, in the given planning_scene.
tl::expected< trajectory_msgs::msg::JointTrajectory, PlanningError >	planTrajectoryToJointGoal (const moveit_pro::base::JointModelGroup &group, const Eigen::VectorXd &initial_joint_positions, const Eigen::VectorXd &goal_joint_positions, const RRTParams &rrt_params, const std::vector< Constraints > &constraints, const TrajectoryParams &trajectory_params, moveit_pro::base::planning_scene::PlanningScene &planning_scene)
	Plan a trajectory from initial joint positions to goal joint positions, for the given planning group, in the given planning_scene.
tl::expected< rrtconnect::ConfigPath, PlanningError >	planPathToJointGoal (const moveit_pro::base::JointModelGroup &group, const Eigen::VectorXd &initial_joint_positions, const Eigen::VectorXd &goal_joint_positions, const RRTParams &rrt_params, const std::vector< Constraints > &constraints, moveit_pro::base::planning_scene::PlanningScene &planning_scene)
	Plan a path from initial joint positions to goal joint positions, for the given planning group, in the given planning_scene.
std::optional< std::string >	checkInputsProRRT (double velocity_scale_factor, double acceleration_scale_factor, int trajectory_sampling_rate, double link_padding, bool keep_orientation, double keep_orientation_tolerance)
	Check if a given set of inputs for ProRRT are valid.
bool	collisionValidationFunction (const moveit_pro::base::JointModelGroup &group, const Eigen::VectorXd &goal_positions, moveit_pro::base::planning_scene::PlanningScene &planning_scene)
	Validate a joint-space configuration by checking for collisions in the given planning scene.
bool	collisionValidationFunction (const moveit_pro::base::JointModelGroup &group, const Eigen::VectorXd &goal_positions, moveit_pro::base::planning_scene::PlanningScene &planning_scene, bool pad_environment_collisions, bool pad_self_collisions)
	Overload of collisionValidationFunction that chooses which collision checks apply the link padding set in the planning scene.
std::string	toJsonString (const ScenarioInput &req)
tl::expected< void, std::string >	fromJsonString (std::string_view json, ScenarioInput &out)
std::string	toJsonString (const ScenarioOutput &res)
tl::expected< void, std::string >	fromJsonString (std::string_view json, ScenarioOutput &out)

Detailed Description

JSON serialization for pro_rrt scenario capture/replay. Lives next to the planner so the input/output struct shapes stay synchronized with pro_rrt's public API. The public surface is string-based — nlohmann::json is an implementation detail of the .cpp, never exposed in the header. That isolation lets pro_rrt pick its own JSON library independently of consumers (notably behavior, which transitively pulls a different nlohmann ABI through BT.CPP's bundled contrib/json.hpp).

JSON serialization implementation. nlohmann::json is used here as a local helper and never leaks into the public header — the public API takes/returns std::string instead. Using the system nlohmann_json package (rather than the version vendored inside BT.CPP) keeps pro_rrt independent of behaviortree_cpp.

Typedef Documentation

ContactMap

using pro_rrt::ContactMap = typedef moveit_pro::base::collision_detection::CollisionResult::ContactMap

Function Documentation

buildJointRangeConstraint()

tl::expected< JointRangeConstraint, std::string > pro_rrt::buildJointRangeConstraint	(	const moveit_pro::base::JointModelGroup &	group,
		const std::vector< std::string > &	joint_names,
		const std::vector< double > &	lowers,
		const std::vector< double > &	uppers
	)

Build a JointRangeConstraint sized to the group's active joints from per-joint bounds.

Joints not present in joint_names get +/- infinity, so they are no-ops against the URDF limits because the existing cwiseMax/cwiseMin clamps the constraint against the joint model limits.

Parameters

group	The planning group. The size of the resulting JointRangeConstraint matches group.getActiveVariableCount().
joint_names	The names of the joints to constrain. Every entry must be an active joint of group. Duplicates are rejected.
lowers	The per-joint lower bounds, parallel to joint_names.
uppers	The per-joint upper bounds, parallel to joint_names.

Returns

The constraint, or an error string if any precondition is violated (mismatched sizes, unknown joint name, duplicate joint name, or lower > upper).

checkInputsProRRT()

std::optional< std::string > pro_rrt::checkInputsProRRT	(	double	velocity_scale_factor,
		double	acceleration_scale_factor,
		int	trajectory_sampling_rate,
		double	link_padding,
		bool	keep_orientation,
		double	keep_orientation_tolerance
	)

Check if a given set of inputs for ProRRT are valid.

Parameters

velocity_scale_factor	How much to scale the velocity of the trajectory, relative to the maximum robot velocity defined in configs.
acceleration_scale_factor	How much to scale the acceleration of the trajectory, relative to the maximum robot acceleration defined in configs.
trajectory_sampling_rate	The sampling rate of the output trajectory in Hz.
link_padding	The padding to be used for collision checking, in meters.
keep_orientation	Whether to keep the orientation of the robot's end effector fixed during planning.
keep_orientation_tolerance	The angle tolerance to use for the orientation constraint.

Returns

an optional string in case of invalid inputs, or nullptr otherwise.

collisionValidationFunction() [1/2]

bool pro_rrt::collisionValidationFunction	(	const moveit_pro::base::JointModelGroup &	group,
		const Eigen::VectorXd &	goal_positions,
		moveit_pro::base::planning_scene::PlanningScene &	planning_scene
	)

Validate a joint-space configuration by checking for collisions in the given planning scene.

This function sets the joint positions of the robot model in the input planning scene to the input goal_positions and performs a collision check. The collision check is performed against the robot's self-collision and the environment. The link padding set in the planning scene is taken into account in both collision checks, and the world object padding in the environment check.

Parameters

group	Joint model group associated with goal_positions.
goal_positions	Joint-space configuration to validate. Must hold one value per active variable of group — size() == group.getActiveVariableCount() — since a longer vector would otherwise be silently truncated and the check would answer for a different configuration than the caller asked about.
planning_scene	Planning scene to perform the collision check against.

Returns

True if the input goal_positions are collision-free in the input planning_scene, false otherwise.

collisionValidationFunction() [2/2]

bool pro_rrt::collisionValidationFunction	(	const moveit_pro::base::JointModelGroup &	group,
		const Eigen::VectorXd &	goal_positions,
		moveit_pro::base::planning_scene::PlanningScene &	planning_scene,
		bool	pad_environment_collisions,
		bool	pad_self_collisions
	)

Overload of collisionValidationFunction that chooses which collision checks apply the link padding set in the planning scene.

Parameters

pad_environment_collisions	Whether the link padding applies to collision checks between robot links and the environment.
pad_self_collisions	Whether the link padding applies to self-collision checks (robot links against each other, against other robot bodies, and against attached objects).

Returns

True if the input goal_positions are collision-free in the input planning_scene, false otherwise.

createPlanarOrientationConstraint()

Constraints pro_rrt::createPlanarOrientationConstraint	(	const moveit_pro::base::LinkModel *	link,
		double	angle_tolerance
	)

Create planar orientation constraints for a set of links.

Parameters

link	The link to constrain.
angle_tolerance	The angle tolerance to use for the orientation constraint.

Returns

The planar orientation constraint.

createPlanarOrientationConstraints()

std::vector< Constraints > pro_rrt::createPlanarOrientationConstraints	(	const moveit_pro::base::JointModelGroup &	joint_model_group,
		const std::vector< std::string > &	constrained_link_names,
		double	angle_tolerance
	)

Create planar orientation constraints for a set of links.

Parameters

joint_model_group	The joint model group to define constraints for.
constrained_link_names	The names of the links to constrain.
angle_tolerance	The angle tolerance to use for the orientation constraint.

Returns

The planar orientation constraints.

fromJsonString() [1/2]

tl::expected< void, std::string > pro_rrt::fromJsonString	(	std::string_view	json,
		ScenarioInput &	out
	)

fromJsonString() [2/2]

tl::expected< void, std::string > pro_rrt::fromJsonString	(	std::string_view	json,
		ScenarioOutput &	out
	)

planPathToJointGoal()

tl::expected< rrtconnect::ConfigPath, PlanningError > pro_rrt::planPathToJointGoal	(	const moveit_pro::base::JointModelGroup &	group,
		const Eigen::VectorXd &	initial_joint_positions,
		const Eigen::VectorXd &	goal_joint_positions,
		const RRTParams &	rrt_params,
		const std::vector< Constraints > &	constraints,
		moveit_pro::base::planning_scene::PlanningScene &	planning_scene
	)

Plan a path from initial joint positions to goal joint positions, for the given planning group, in the given planning_scene.

Parameters

group	Joint model group to plan motion for.
initial_joint_positions	The initial joint positions of group.
goal_joint_positions	The desired goal joint positions for group.
rrt_params	Configuration parameters for the RRT planner.
constraints	The kinematic constraints to take into account during planning.
planning_scene	The planning scene to plan in, i.e. the obstacles around the robot.

Returns

the planned path as a rrtconnect::ConfigPath if one is found, or a PlanningError if the planning fails.

planTrajectoryToJointGoal() [1/2]

tl::expected< trajectory_msgs::msg::JointTrajectory, PlanningError > pro_rrt::planTrajectoryToJointGoal	(	const moveit_pro::base::JointModelGroup &	group,
		const Eigen::VectorXd &	initial_joint_positions,
		const Eigen::VectorXd &	goal_joint_positions,
		const RRTParams &	rrt_params,
		const std::vector< Constraints > &	constraints,
		const TrajectoryParams &	trajectory_params,
		moveit_pro::base::planning_scene::PlanningScene &	planning_scene
	)

Plan a trajectory from initial joint positions to goal joint positions, for the given planning group, in the given planning_scene.

Parameters

group	Joint model group to plan motion for.
initial_joint_positions	The initial joint positions of group.
goal_joint_positions	The desired goal joint positions for group.
rrt_params	Configuration parameters for the RRT planner.
constraints	The kinematic constraints to take into account during planning.
trajectory_params	Parameters for the trajectory generation.
planning_scene	The planning scene to plan in, i.e. the obstacles around the robot.

Returns

the planned trajectory as a trajectory_msgs::msg::JointTrajectory if one is found, or a PlanningError if the planning fails.

planTrajectoryToJointGoal() [2/2]

tl::expected< trajectory_msgs::msg::JointTrajectory, PlanningError > pro_rrt::planTrajectoryToJointGoal	(	const moveit_pro::base::JointModelGroup &	group,
		const moveit_pro::base::RobotState &	start_state,
		const moveit_pro::base::RobotState &	goal_state,
		const RRTParams &	rrt_params,
		const std::vector< Constraints > &	constraints,
		const TrajectoryParams &	trajectory_params,
		moveit_pro::base::planning_scene::PlanningScene &	planning_scene
	)

Plan a trajectory from a start state to a goal state, for the given planning group, in the given planning_scene.

Parameters

group	Joint model group to plan motion for.
start_state	The start state of the robot.
goal_state	The goal state of the robot.
rrt_params	Configuration parameters for the RRT planner.
constraints	The kinematic constraints to take into account during planning.
trajectory_params	Parameters for the trajectory generation.
planning_scene	The planning scene to plan in, i.e. the obstacles around the robot.

Returns

the planned trajectory as a trajectory_msgs::msg::JointTrajectory if one is found, or a PlanningError if the planning fails.

toJsonString() [1/2]

std::string pro_rrt::toJsonString

(

const ScenarioInput &

req

)

toJsonString() [2/2]

std::string pro_rrt::toJsonString

(

const ScenarioOutput &

res

)