chomp Namespace Reference

Classes
class	ChompCollisionPoint
class	ChompCollisionSpace
class	ChompCost
	Represents the smoothness cost for CHOMP, for a single joint. More...
class	ChompCostServer
class	ChompOptimizer
class	ChompParameters
class	ChompPlannerNode
	ROS Node which responds to motion planning requests using the CHOMP algorithm. More...
class	ChompRobotModel
	Contains all the information needed for CHOMP planning. More...
class	ChompTrajectory
	Represents a discretized joint-space trajectory for CHOMP. More...
class	MultivariateGaussian
	Generates samples from a multivariate gaussian distribution. More...
Functions
void	debugJointArray (KDL::JntArray &joint_array)
static std::string	intToString (int i)
template<typename KDLType , typename EigenType >
void	kdlVecToEigenVec (std::vector< KDLType > &kdl_v, std::vector< Eigen::Map< EigenType > > &eigen_v, int rows, int cols)
template<typename KDLType , typename EigenType >
void	kdlVecVecToEigenVecVec (std::vector< std::vector< KDLType > > &kdl_vv, std::vector< std::vector< Eigen::Map< EigenType > > > &eigen_vv, int rows, int cols)
Variables
static const int	DIFF_RULE_LENGTH = 7
static const double	DIFF_RULES [3][DIFF_RULE_LENGTH]

---

Detailed Description

Author:

Mrinal Kalakrishnan

---

Function Documentation

void chomp::debugJointArray

(

KDL::JntArray &

joint_array

)

[inline]

Definition at line 58 of file chomp_utils.h.

static std::string chomp::intToString

(

int

i

)

[static]

Definition at line 461 of file chomp_collision_space.cpp.

template<typename KDLType , typename EigenType >

void chomp::kdlVecToEigenVec	(	std::vector< KDLType > &	kdl_v,
		std::vector< Eigen::Map< EigenType > > &	eigen_v,
		int	rows,
		int	cols
	)			[inline]

Definition at line 68 of file chomp_utils.h.

template<typename KDLType , typename EigenType >

void chomp::kdlVecVecToEigenVecVec	(	std::vector< std::vector< KDLType > > &	kdl_vv,
		std::vector< std::vector< Eigen::Map< EigenType > > > &	eigen_vv,
		int	rows,
		int	cols
	)			[inline]

Definition at line 79 of file chomp_utils.h.

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Variable Documentation

const int chomp::DIFF_RULE_LENGTH = 7 [static]

Definition at line 49 of file chomp_utils.h.

const double chomp::DIFF_RULES[3][DIFF_RULE_LENGTH] [static]

Initial value:

 {
    {0, 0, -2/6.0, -3/6.0, 6/6.0, -1/6.0, 0},                   
    {0, -1/12.0, 16/12.0, -30/12.0, 16/12.0, -1/12.0, 0},       
    {0, 1/12.0, -17/12.0, 46/12.0, -46/12.0, 17/12.0, -1/12.0}  
}

Definition at line 52 of file chomp_utils.h.