#include <ompl_ros_ik_sampler.h>
Public Member Functions | |
| bool | configureOnRequest (const motion_planning_msgs::GetMotionPlan::Request &request, motion_planning_msgs::GetMotionPlan::Response &response, const unsigned int &max_sample_count=100) |
| Configure the kinematics solver when a request is received. | |
| bool | initialize (const ompl::base::StateSpacePtr &state_space, const std::string &kinematics_solver_name, const std::string &group_name, const std::string &end_effector_name, const planning_environment::PlanningMonitor *planning_monitor) |
| Initialize the sampler. | |
| OmplRosIKSampler () | |
| Default constructor. | |
| bool | sampleGoal (const ompl::base::GoalLazySamples *gls, ompl::base::State *state) |
| Sample a state in the goal region. | |
| bool | sampleGoals (const ompl::base::GoalLazySamples *gls, ompl::base::State *state) |
| Sample a state in the goal region. | |
Private Attributes | |
| std::string | end_effector_name_ |
| std::string | group_name_ |
| std::vector < geometry_msgs::PoseStamped > | ik_poses_ |
| unsigned int | ik_poses_counter_ |
| pluginlib::ClassLoader < kinematics::KinematicsBase > | kinematics_loader_ |
| kinematics::KinematicsBase * | kinematics_solver_ |
| std::string | kinematics_solver_name_ |
| unsigned int | max_sample_count_ |
| unsigned int | num_samples_ |
| ompl_ros_interface::OmplStateToRobotStateMapping | ompl_state_to_robot_state_mapping_ |
| const planning_environment::PlanningMonitor * | planning_monitor_ |
| ompl_ros_interface::RobotStateToOmplStateMapping | robot_state_to_ompl_state_mapping_ |
| boost::shared_ptr < ompl::base::ScopedState < ompl::base::CompoundStateSpace > > | scoped_state_ |
| motion_planning_msgs::RobotState | seed_state_ |
| motion_planning_msgs::RobotState | solution_state_ |
| ompl::base::StateSpacePtr | state_space_ |
Definition at line 47 of file ompl_ros_ik_sampler.h.
| ompl_ros_interface::OmplRosIKSampler::OmplRosIKSampler | ( | ) | [inline] |
Default constructor.
Definition at line 54 of file ompl_ros_ik_sampler.h.
| bool ompl_ros_interface::OmplRosIKSampler::configureOnRequest | ( | const motion_planning_msgs::GetMotionPlan::Request & | request, | |
| motion_planning_msgs::GetMotionPlan::Response & | response, | |||
| const unsigned int & | max_sample_count = 100 | |||
| ) |
Configure the kinematics solver when a request is received.
| request | - The motion planning request | |
| response | - The response to the motion planning request. Use this to fill in any error codes | |
| max_sample_count | - The maximum number of samples that the IK should generate |
Definition at line 101 of file ompl_ros_ik_sampler.cpp.
| bool ompl_ros_interface::OmplRosIKSampler::initialize | ( | const ompl::base::StateSpacePtr & | state_space, | |
| const std::string & | kinematics_solver_name, | |||
| const std::string & | group_name, | |||
| const std::string & | end_effector_name, | |||
| const planning_environment::PlanningMonitor * | planning_monitor | |||
| ) |
Initialize the sampler.
| state_space | - The state manifld that the planner is operating on | |
| kinematics_solver_name | - The name of the plugin that the kinematics solver will use | |
| group_name | - The name of the group that this solver is operating on | |
| end_effector_name | - The name of the end effector for this group | |
| planning_monitor | - A pointer to an instance of the planning monitor |
Definition at line 41 of file ompl_ros_ik_sampler.cpp.
| bool ompl_ros_interface::OmplRosIKSampler::sampleGoal | ( | const ompl::base::GoalLazySamples * | gls, | |
| ompl::base::State * | state | |||
| ) |
Sample a state in the goal region.
| gls | - A pointer to an instance of a goal lazy sampling object | |
| state | - The state to be returned |
Definition at line 141 of file ompl_ros_ik_sampler.cpp.
| bool ompl_ros_interface::OmplRosIKSampler::sampleGoals | ( | const ompl::base::GoalLazySamples * | gls, | |
| ompl::base::State * | state | |||
| ) |
Sample a state in the goal region.
| gls | - A pointer to an instance of a goal lazy sampling object | |
| state | - The state to be returned |
Definition at line 170 of file ompl_ros_ik_sampler.cpp.
std::string ompl_ros_interface::OmplRosIKSampler::end_effector_name_ [private] |
Definition at line 104 of file ompl_ros_ik_sampler.h.
std::string ompl_ros_interface::OmplRosIKSampler::group_name_ [private] |
Definition at line 104 of file ompl_ros_ik_sampler.h.
std::vector<geometry_msgs::PoseStamped> ompl_ros_interface::OmplRosIKSampler::ik_poses_ [private] |
Definition at line 98 of file ompl_ros_ik_sampler.h.
unsigned int ompl_ros_interface::OmplRosIKSampler::ik_poses_counter_ [private] |
Definition at line 100 of file ompl_ros_ik_sampler.h.
pluginlib::ClassLoader<kinematics::KinematicsBase> ompl_ros_interface::OmplRosIKSampler::kinematics_loader_ [private] |
Definition at line 105 of file ompl_ros_ik_sampler.h.
kinematics::KinematicsBase* ompl_ros_interface::OmplRosIKSampler::kinematics_solver_ [private] |
Definition at line 102 of file ompl_ros_ik_sampler.h.
std::string ompl_ros_interface::OmplRosIKSampler::kinematics_solver_name_ [private] |
Definition at line 104 of file ompl_ros_ik_sampler.h.
unsigned int ompl_ros_interface::OmplRosIKSampler::max_sample_count_ [private] |
Definition at line 99 of file ompl_ros_ik_sampler.h.
unsigned int ompl_ros_interface::OmplRosIKSampler::num_samples_ [private] |
Definition at line 99 of file ompl_ros_ik_sampler.h.
ompl_ros_interface::OmplStateToRobotStateMapping ompl_ros_interface::OmplRosIKSampler::ompl_state_to_robot_state_mapping_ [private] |
Definition at line 109 of file ompl_ros_ik_sampler.h.
const planning_environment::PlanningMonitor* ompl_ros_interface::OmplRosIKSampler::planning_monitor_ [private] |
Definition at line 111 of file ompl_ros_ik_sampler.h.
ompl_ros_interface::RobotStateToOmplStateMapping ompl_ros_interface::OmplRosIKSampler::robot_state_to_ompl_state_mapping_ [private] |
Definition at line 110 of file ompl_ros_ik_sampler.h.
boost::shared_ptr<ompl::base::ScopedState<ompl::base::CompoundStateSpace> > ompl_ros_interface::OmplRosIKSampler::scoped_state_ [private] |
Definition at line 106 of file ompl_ros_ik_sampler.h.
motion_planning_msgs::RobotState ompl_ros_interface::OmplRosIKSampler::seed_state_ [private] |
Definition at line 107 of file ompl_ros_ik_sampler.h.
motion_planning_msgs::RobotState ompl_ros_interface::OmplRosIKSampler::solution_state_ [private] |
Definition at line 107 of file ompl_ros_ik_sampler.h.
ompl::base::StateSpacePtr ompl_ros_interface::OmplRosIKSampler::state_space_ [private] |
Definition at line 101 of file ompl_ros_ik_sampler.h.
