ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner Class Reference

#include <ompl_ros_rpy_ik_task_space_planner.h>

Inheritance diagram for ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner:

[legend]

List of all members.

Protected Member Functions
virtual bool	constraintsToOmplState (const motion_planning_msgs::Constraints &constraints, ompl::base::ScopedState< ompl::base::CompoundStateSpace > &goal)
virtual motion_planning_msgs::RobotTrajectory	getSolutionPath ()
	Returns the solution path.
virtual bool	initializeStateValidityChecker (ompl_ros_interface::OmplRosStateValidityCheckerPtr &state_validity_checker)
	Initialize the state validity checker.
Private Member Functions
bool	checkAndCorrectForWrapAround (double &value, const double &min_v, const double &max_v)
bool	getEndEffectorConstraints (const motion_planning_msgs::Constraints &constraints, motion_planning_msgs::PositionConstraint &position_constraint, motion_planning_msgs::OrientationConstraint &orientation_constraint, const bool &need_both_constraints)
geometry_msgs::PoseStamped	getEndEffectorPose (const motion_planning_msgs::RobotState &robot_state)
bool	orientationConstraintToOmplStateBounds (const motion_planning_msgs::OrientationConstraint &orientation_constraint, ompl::base::StateSpacePtr &goal)
bool	poseStampedToOmplState (const geometry_msgs::PoseStamped &pose_stamped, ompl::base::ScopedState< ompl::base::CompoundStateSpace > &goal, const bool &return_if_outside_constraints=true)
bool	positionConstraintToOmplStateBounds (const motion_planning_msgs::PositionConstraint &position_constraint, ompl::base::StateSpacePtr &goal)
virtual bool	setStart (motion_planning_msgs::GetMotionPlan::Request &request, motion_planning_msgs::GetMotionPlan::Response &response)
	Set the start state(s).
Private Attributes
std::string	end_effector_name_
boost::shared_ptr < ompl::base::RealVectorBounds >	original_real_vector_bounds_
tf::TransformListener	tf_

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Detailed Description

Definition at line 49 of file ompl_ros_rpy_ik_task_space_planner.h.

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Member Function Documentation

bool ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::checkAndCorrectForWrapAround	(	double &	value,
		const double &	min_v,
		const double &	max_v
	)			[private]

Definition at line 397 of file ompl_ros_rpy_ik_task_space_planner.cpp.

bool ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::constraintsToOmplState	(	const motion_planning_msgs::Constraints &	constraints,
		ompl::base::ScopedState< ompl::base::CompoundStateSpace > &	goal
	)			[protected, virtual]

Reimplemented from ompl_ros_interface::OmplRosTaskSpacePlanner.

Definition at line 172 of file ompl_ros_rpy_ik_task_space_planner.cpp.

bool ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::getEndEffectorConstraints	(	const motion_planning_msgs::Constraints &	constraints,
		motion_planning_msgs::PositionConstraint &	position_constraint,
		motion_planning_msgs::OrientationConstraint &	orientation_constraint,
		const bool &	need_both_constraints
	)			[private]

Definition at line 299 of file ompl_ros_rpy_ik_task_space_planner.cpp.

geometry_msgs::PoseStamped ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::getEndEffectorPose

(

const motion_planning_msgs::RobotState &

robot_state

)

[private]

Definition at line 418 of file ompl_ros_rpy_ik_task_space_planner.cpp.

motion_planning_msgs::RobotTrajectory ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::getSolutionPath

(

)

[protected, virtual]

Returns the solution path.

Implements ompl_ros_interface::OmplRosTaskSpacePlanner.

Definition at line 63 of file ompl_ros_rpy_ik_task_space_planner.cpp.

bool ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::initializeStateValidityChecker

(

ompl_ros_interface::OmplRosStateValidityCheckerPtr &

state_validity_checker

)

[protected, virtual]

Initialize the state validity checker.

Reimplemented from ompl_ros_interface::OmplRosTaskSpacePlanner.

Definition at line 41 of file ompl_ros_rpy_ik_task_space_planner.cpp.

bool ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::orientationConstraintToOmplStateBounds	(	const motion_planning_msgs::OrientationConstraint &	orientation_constraint,
		ompl::base::StateSpacePtr &	goal
	)			[private]

Definition at line 241 of file ompl_ros_rpy_ik_task_space_planner.cpp.

bool ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::poseStampedToOmplState	(	const geometry_msgs::PoseStamped &	pose_stamped,
		ompl::base::ScopedState< ompl::base::CompoundStateSpace > &	goal,
		const bool &	return_if_outside_constraints = true
	)			[private]

Definition at line 334 of file ompl_ros_rpy_ik_task_space_planner.cpp.

bool ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::positionConstraintToOmplStateBounds	(	const motion_planning_msgs::PositionConstraint &	position_constraint,
		ompl::base::StateSpacePtr &	goal
	)			[private]

Definition at line 220 of file ompl_ros_rpy_ik_task_space_planner.cpp.

bool ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::setStart	(	motion_planning_msgs::GetMotionPlan::Request &	request,
		motion_planning_msgs::GetMotionPlan::Response &	response
	)			[private, virtual]

Set the start state(s).

Reimplemented from ompl_ros_interface::OmplRosTaskSpacePlanner.

Definition at line 109 of file ompl_ros_rpy_ik_task_space_planner.cpp.

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Member Data Documentation

std::string ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::end_effector_name_ [private]

Reimplemented from ompl_ros_interface::OmplRosTaskSpacePlanner.

Definition at line 89 of file ompl_ros_rpy_ik_task_space_planner.h.

boost::shared_ptr<ompl::base::RealVectorBounds> ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::original_real_vector_bounds_ [private]

Definition at line 76 of file ompl_ros_rpy_ik_task_space_planner.h.

tf::TransformListener ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::tf_ [private]

Definition at line 67 of file ompl_ros_rpy_ik_task_space_planner.h.

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The documentation for this class was generated from the following files:

• ompl_ros_rpy_ik_task_space_planner.h
• ompl_ros_rpy_ik_task_space_planner.cpp