Plan Files

Table of Contents

• Statements
  • Action Lines
  • Reparent Lines
  • Motion Plan Start Lines
  • Configuration Waypoint Lines
  • Comment Lines
• Generation and Parsing

Task and motion plans are output in a plan-text, line-based format. A parser for the format is included.

Statements

Each plan file line is a single statement.

Action Lines

Action lines indicate the discrete action to be taken.

Action lines begin with "a".

Action Example

a TRANSFER object destination

Reparent Lines

Reparent lines change the topology of the scenegraph. For example picking an object changes the object frame's parent to the robot end-effector.

Reparent lines begin with "r", then contain the frame being reparented followed by its new parent frame.

Reparent Example

r object end_effector

Motion Plan Start Lines

Motion plan start lines indicate the beginning of a new motion plan and list the names of configuration variables used in the plan.

Motion plan start line begin with "m", then contain a list of the names of configuration variables described by the plan.

A motion plan start line must be followed by one or more waypoint lines.

Motion Plan Start Example

m shoulder_0 shoulder_1 shoulder_2 elbow wrist_0 wrist_1 wrist_2

Configuration Waypoint Lines

Waypoint lines indicate a particular configuration waypoint along a motion plan. Each element of the waypoint corresponds to the named configuration variable from the motion plan start line.

Waypoint lines begin with "p", then contain a list of the configuration variable values at that waypoint.

Waypoint Example

p 0.0 0.0 0.0 3.14 0.0 0.0 0.0

Comment Lines

Plan files uses shell-style line comments (# Comment).

Comment Example

# This is a line comment

Generation and Parsing

The tmplan.h header defines functions and data structures for plan files.

Parsing Example

/* Parse the plan file struct */
struct aa_mem_region region;
aa_mem_region_init(&region, 1024*64);
struct tmplan *tmp = tmplan_parse_filename("plan.tmp", &region);

/* Use the plan file struct */
/* ... */

/* Release the plan file struct */
aa_mem_region_pop(&region, tmp);

See also

tmplan_parse_filename()

tmplan_parse_file()

Usage Example

/* A function to apply to each operator in the plan */
static void
helper_function (void *cx, const struct tmplan_op *op );

/* This is a simplified version of tmplan_write() */
int
simple_tmplan_write (const struct tmplan *tmp)
{
    /* apply helper_function to each operator */
    tmplan_map_ops( tmp, helper_function, stdout );
}

static void
helper_function (void *cx, const struct tmplan_op *op )
{
    FILE *out = (FILE*)cx;
    switch( tmplan_op_type(op)) {
    case TMPLAN_OP_ACTION: {
        struct tmplan_op_action *x = (struct tmplan_op_action *)op;
        const char *action = tmplan_op_action_get(x);
        if( action ) {
            fprintf(out,"a %s\n",action);
        } else {
            fprintf(out, "a\n");
        }
    } break;
    case TMPLAN_OP_MOTION_PLAN: {
        fprintf(out, "m\n");
    } break;
    case TMPLAN_OP_REPARENT: {
        struct tmplan_op_reparent *x = (struct tmplan_op_reparent *)op;
        fprintf(out, "r %s %s\n",
                tmplan_op_reparent_get_frame(x),
                tmplan_op_reparent_get_new_parent(x) );
    } break;
    }
}

See also

tmplan_map_ops()

tmplan_op_motion_plan_map_var()

Generation Example

struct aa_mem_region region;
aa_mem_region_init(&region, 1024*64);
struct tmplan *tmp = tmplan_create(&region);
/* Initialize the struct */
/* ... */

/* Write the struct */
FILE *out = fopen("plan.tmp", "w");
tmplan_write(tmp,stdout);
fclose(out);

/* Release the plan file struct */
aa_mem_region_pop(&region, tmp);

See also

tmplan_write()