collision_proximity_planner::CollisionProximityPlannerPlugin Class Reference

#include <collision_proximity_planner_plugin.h>

Public Member Functions
void	clear ()
	Clear everything internally and get ready for a whole new request. This must be called after setRobotState() has been called if a completely new request needs to be serviced.
	CollisionProximityPlannerPlugin ()
void	getStateGradient (const arm_navigation_msgs::RobotState &group_state, double &distance, arm_navigation_msgs::RobotState &gradient)
	Given a robot state, get the gradient direction to be moved in.
bool	refineState (arm_navigation_msgs::RobotState &group_state, arm_navigation_msgs::RobotTrajectory &robot_trajectory)
	Given a robot state, refine the state. Examples of refinement could include projection onto a constraint manifold, motion away from contact.
bool	refineState (const arm_navigation_msgs::RobotState &robot_state, const arm_navigation_msgs::Constraints &constraints, arm_navigation_msgs::RobotState &group_state)
	Given a robot state, refine the state. Examples of refinement could include projection onto a constraint manifold, motion away from contact.
bool	setConstraints (const arm_navigation_msgs::Constraints &constraints)
	Given a robot state, refine the state. Examples of refinement could include projection onto a constraint manifold, motion away from contact, etc.
bool	setGroupName (const std::string &group_name)
bool	setGroupState (const arm_navigation_msgs::RobotState &group_state)
	Set a group state. This must be called before you can make multiple queries to refineState below. This function can be used to define a mapping between the group state specified in the argument and the internal group state for more efficiency.
bool	setRobotState (const arm_navigation_msgs::RobotState &robot_state)
	Set the robot state that you want to check. Note that this locks the collision space and you will have to call clear() to unlock the space.
Private Attributes
collision_proximity_planner::CollisionProximityPlanner	planner_

Detailed Description

Definition at line 50 of file collision_proximity_planner_plugin.h.

Constructor & Destructor Documentation

collision_proximity_planner::CollisionProximityPlannerPlugin::CollisionProximityPlannerPlugin ( )

Definition at line 44 of file collision_proximity_planner_plugin.cpp.

Member Function Documentation

void collision_proximity_planner::CollisionProximityPlannerPlugin::clear ( void )

Clear everything internally and get ready for a whole new request. This must be called after setRobotState() has been called if a completely new request needs to be serviced.

Definition at line 98 of file collision_proximity_planner_plugin.cpp.

void collision_proximity_planner::CollisionProximityPlannerPlugin::getStateGradient	(	const arm_navigation_msgs::RobotState &	group_state,
		double &	distance,
		arm_navigation_msgs::RobotState &	gradient
	)

Given a robot state, get the gradient direction to be moved in.

Parameters:

group_state

The group state for which the gradient is expected.

Definition at line 91 of file collision_proximity_planner_plugin.cpp.

bool collision_proximity_planner::CollisionProximityPlannerPlugin::refineState	(	arm_navigation_msgs::RobotState &	group_state,
		arm_navigation_msgs::RobotTrajectory &	robot_trajectory
	)

Given a robot state, refine the state. Examples of refinement could include projection onto a constraint manifold, motion away from contact.

Parameters:

group_state

The group state that needs to be refined.

Returns:: True if a valid refinement was found, false otherwise.

Definition at line 85 of file collision_proximity_planner_plugin.cpp.

bool collision_proximity_planner::CollisionProximityPlannerPlugin::refineState	(	const arm_navigation_msgs::RobotState &	robot_state,
		const arm_navigation_msgs::Constraints &	constraints,
		arm_navigation_msgs::RobotState &	group_state
	)

Given a robot state, refine the state. Examples of refinement could include projection onto a constraint manifold, motion away from contact.

Parameters:

	robot_state	The full robot state.
	constraints	A set of constraints that may need to be applied
	group_state	The group state that needs to be refined

Returns:: True if a valid refinement was found, false otherwise

Definition at line 53 of file collision_proximity_planner_plugin.cpp.

bool collision_proximity_planner::CollisionProximityPlannerPlugin::setConstraints ( const arm_navigation_msgs::Constraints & constraints )

Given a robot state, refine the state. Examples of refinement could include projection onto a constraint manifold, motion away from contact, etc.

Parameters:

constraints

A set of constraints that may need to be applied

Returns:: True if setting constraints was successful

Definition at line 80 of file collision_proximity_planner_plugin.cpp.

bool collision_proximity_planner::CollisionProximityPlannerPlugin::setGroupName ( const std::string & group_name )

Definition at line 48 of file collision_proximity_planner_plugin.cpp.

bool collision_proximity_planner::CollisionProximityPlannerPlugin::setGroupState ( const arm_navigation_msgs::RobotState & group_state )

Set a group state. This must be called before you can make multiple queries to refineState below. This function can be used to define a mapping between the group state specified in the argument and the internal group state for more efficiency.

Parameters:

group_state

Definition at line 75 of file collision_proximity_planner_plugin.cpp.

bool collision_proximity_planner::CollisionProximityPlannerPlugin::setRobotState ( const arm_navigation_msgs::RobotState & robot_state )

Set the robot state that you want to check. Note that this locks the collision space and you will have to call clear() to unlock the space.

Parameters:

robot_state

The full robot state.