pick_place
include
moveit
pick_place
approach_and_translate_stage.h
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* Copyright (c) 2012, Willow Garage, Inc.
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/* Author: Ioan Sucan, Sachin Chitta */
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#pragma once
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#include <
moveit/pick_place/manipulation_stage.h
>
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#include <
moveit/planning_pipeline/planning_pipeline.h
>
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#include <
moveit/trajectory_processing/iterative_time_parameterization.h
>
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namespace
pick_place
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{
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class
ApproachAndTranslateStage
:
public
ManipulationStage
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{
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public
:
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ApproachAndTranslateStage
(
const
planning_scene::PlanningSceneConstPtr& scene,
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const
collision_detection::AllowedCollisionMatrixConstPtr& collision_matrix);
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bool
evaluate
(
const
ManipulationPlanPtr& plan)
const override
;
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private
:
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planning_scene::PlanningSceneConstPtr
planning_scene_
;
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collision_detection::AllowedCollisionMatrixConstPtr
collision_matrix_
;
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trajectory_processing::IterativeParabolicTimeParameterization
time_param_
;
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unsigned
int
max_goal_count_
;
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unsigned
int
max_fail_
;
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double
max_step_
;
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double
jump_factor_
;
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};
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}
// namespace pick_place
pick_place::ApproachAndTranslateStage::max_goal_count_
unsigned int max_goal_count_
Definition:
approach_and_translate_stage.h:122
pick_place::ApproachAndTranslateStage::evaluate
bool evaluate(const ManipulationPlanPtr &plan) const override
Definition:
approach_and_translate_stage.cpp:230
pick_place
Definition:
approach_and_translate_stage.h:43
trajectory_processing::IterativeParabolicTimeParameterization
pick_place::ApproachAndTranslateStage::planning_scene_
planning_scene::PlanningSceneConstPtr planning_scene_
Definition:
approach_and_translate_stage.h:118
pick_place::ManipulationStage
Definition:
manipulation_stage.h:79
pick_place::ApproachAndTranslateStage::collision_matrix_
collision_detection::AllowedCollisionMatrixConstPtr collision_matrix_
Definition:
approach_and_translate_stage.h:119
planning_pipeline.h
pick_place::ApproachAndTranslateStage::time_param_
trajectory_processing::IterativeParabolicTimeParameterization time_param_
Definition:
approach_and_translate_stage.h:120
manipulation_stage.h
iterative_time_parameterization.h
pick_place::ApproachAndTranslateStage::max_step_
double max_step_
Definition:
approach_and_translate_stage.h:124
pick_place::ApproachAndTranslateStage::max_fail_
unsigned int max_fail_
Definition:
approach_and_translate_stage.h:123
pick_place::ApproachAndTranslateStage
Definition:
approach_and_translate_stage.h:77
pick_place::ApproachAndTranslateStage::jump_factor_
double jump_factor_
Definition:
approach_and_translate_stage.h:125
pick_place::ApproachAndTranslateStage::ApproachAndTranslateStage
ApproachAndTranslateStage(const planning_scene::PlanningSceneConstPtr &scene, const collision_detection::AllowedCollisionMatrixConstPtr &collision_matrix)
Definition:
approach_and_translate_stage.cpp:78
manipulation
Author(s): Ioan Sucan
, Sachin Chitta
autogenerated on Fri May 3 2024 02:29:51