chomp::ChompCostServer Class Reference

Public Member Functions
	ChompCostServer ()
bool	getChompCollisionCost (chomp_motion_planner::GetChompCollisionCost::Request &request, chomp_motion_planner::GetChompCollisionCost::Response &response)
bool	getStateCost (chomp_motion_planner::GetStateCost::Request &request, chomp_motion_planner::GetStateCost::Response &response)
bool	init (bool advertise_service)
void	mechanismStateCallback (const sensor_msgs::JointStateConstPtr &mech_state)
int	run ()
virtual	~ChompCostServer ()
Private Member Functions
void	fillDefaultJointArray (KDL::JntArray &jnt_array)
Private Attributes
ChompCollisionSpace	chomp_collision_space_
ChompRobotModel	chomp_robot_model_
ros::ServiceServer	get_chomp_collision_cost_server_
ros::ServiceServer	get_state_cost_server_
sensor_msgs::JointState	mechanism_state_
boost::mutex	mechanism_state_mutex_
ros::Subscriber	mechanism_state_subscriber_
ros::NodeHandle	node_
ros::Publisher	vis_marker_array_publisher_

Detailed Description

This node advertises a service that can respond to queries about collision cost for a given robot configuration.

Definition at line 56 of file chomp_cost_server.h.

chomp::ChompCostServer::ChompCostServer ( )

Definition at line 39 of file chomp_cost_server.cpp.

chomp::ChompCostServer::~ChompCostServer ( ) [virtual]

Definition at line 43 of file chomp_cost_server.cpp.

void chomp::ChompCostServer::fillDefaultJointArray ( KDL::JntArray & jnt_array ) [private]

Definition at line 195 of file chomp_cost_server.cpp.

bool chomp::ChompCostServer::getChompCollisionCost	(	chomp_motion_planner::GetChompCollisionCost::Request &	request,
		chomp_motion_planner::GetChompCollisionCost::Response &	response
	)

Definition at line 72 of file chomp_cost_server.cpp.

bool chomp::ChompCostServer::getStateCost	(	chomp_motion_planner::GetStateCost::Request &	request,
		chomp_motion_planner::GetStateCost::Response &	response
	)