ompl_ros_interface::OmplRosStateValidityChecker Class Reference

A ROS wrapper around a ompl::base::StateValidityChecker object. More...

#include <ompl_ros_state_validity_checker.h>

Inheritance diagram for ompl_ros_interface::OmplRosStateValidityChecker:

[legend]

List of all members.

Public Member Functions
virtual void	configureOnRequest (planning_models::KinematicState *kinematic_state, planning_models::KinematicState::JointStateGroup *physical_joint_state_group, const motion_planning_msgs::GetMotionPlan::Request &request)
motion_planning_msgs::ArmNavigationErrorCodes	getLastErrorCode ()
virtual bool	isStateValid (const ompl::base::State *ompl_state)=0
virtual bool	isValid (const ompl::base::State *ompl_state) const =0
	Callback function used to determine whether a state is valid or not.
	OmplRosStateValidityChecker (ompl::base::SpaceInformation *si, planning_environment::PlanningMonitor *planning_monitor)
	A default constructor.
void	printSettings (std::ostream &out) const
	Used by the ROS space information to print information.
Protected Member Functions
motion_planning_msgs::Constraints	getPhysicalConstraints (const motion_planning_msgs::Constraints &constraints)
Protected Attributes
motion_planning_msgs::ArmNavigationErrorCodes	error_code_
planning_environment::KinematicConstraintEvaluatorSet	goal_constraint_evaluator_set_
sensor_msgs::JointState	joint_state_
planning_models::KinematicState::JointStateGroup *	joint_state_group_
planning_models::KinematicState *	kinematic_state_
planning_environment::KinematicConstraintEvaluatorSet	path_constraint_evaluator_set_
planning_environment::PlanningMonitor *	planning_monitor_

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Detailed Description

A ROS wrapper around a ompl::base::StateValidityChecker object.

Definition at line 56 of file ompl_ros_state_validity_checker.h.

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Constructor & Destructor Documentation

ompl_ros_interface::OmplRosStateValidityChecker::OmplRosStateValidityChecker	(	ompl::base::SpaceInformation *	si,
		planning_environment::PlanningMonitor *	planning_monitor
	)			[inline]

A default constructor.

Parameters:

	si	- A pointer to the space information used by this checker
	planning_monitor	- A pointer to the planning monitor instance used by this checker

Definition at line 64 of file ompl_ros_state_validity_checker.h.

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Member Function Documentation

void ompl_ros_interface::OmplRosStateValidityChecker::configureOnRequest	(	planning_models::KinematicState *	kinematic_state,
		planning_models::KinematicState::JointStateGroup *	physical_joint_state_group,
		const motion_planning_msgs::GetMotionPlan::Request &	request
	)			[virtual]

Reimplemented in ompl_ros_interface::OmplRosTaskSpaceValidityChecker.

Definition at line 41 of file ompl_ros_state_validity_checker.cpp.

motion_planning_msgs::ArmNavigationErrorCodes ompl_ros_interface::OmplRosStateValidityChecker::getLastErrorCode

(

)

[inline]

Definition at line 92 of file ompl_ros_state_validity_checker.h.

motion_planning_msgs::Constraints ompl_ros_interface::OmplRosStateValidityChecker::getPhysicalConstraints

(

const motion_planning_msgs::Constraints &

constraints

)

[protected]

Definition at line 66 of file ompl_ros_state_validity_checker.cpp.

virtual bool ompl_ros_interface::OmplRosStateValidityChecker::isStateValid

(

const ompl::base::State *

ompl_state

)

[pure virtual]

Implemented in ompl_ros_interface::OmplRosJointStateValidityChecker, and ompl_ros_interface::OmplRosTaskSpaceValidityChecker.

virtual bool ompl_ros_interface::OmplRosStateValidityChecker::isValid

(

const ompl::base::State *

ompl_state

)

const [pure virtual]

Callback function used to determine whether a state is valid or not.

Implemented in ompl_ros_interface::OmplRosJointStateValidityChecker, and ompl_ros_interface::OmplRosTaskSpaceValidityChecker.

void ompl_ros_interface::OmplRosStateValidityChecker::printSettings

(

std::ostream &

out

)

const

Used by the ROS space information to print information.

Definition at line 88 of file ompl_ros_state_validity_checker.cpp.

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Member Data Documentation

motion_planning_msgs::ArmNavigationErrorCodes ompl_ros_interface::OmplRosStateValidityChecker::error_code_ [protected]

Definition at line 110 of file ompl_ros_state_validity_checker.h.

planning_environment::KinematicConstraintEvaluatorSet ompl_ros_interface::OmplRosStateValidityChecker::goal_constraint_evaluator_set_ [protected]

Definition at line 109 of file ompl_ros_state_validity_checker.h.

sensor_msgs::JointState ompl_ros_interface::OmplRosStateValidityChecker::joint_state_ [protected]

Definition at line 111 of file ompl_ros_state_validity_checker.h.

planning_models::KinematicState::JointStateGroup* ompl_ros_interface::OmplRosStateValidityChecker::joint_state_group_ [protected]

Definition at line 104 of file ompl_ros_state_validity_checker.h.

planning_models::KinematicState* ompl_ros_interface::OmplRosStateValidityChecker::kinematic_state_ [protected]

Definition at line 106 of file ompl_ros_state_validity_checker.h.

planning_environment::KinematicConstraintEvaluatorSet ompl_ros_interface::OmplRosStateValidityChecker::path_constraint_evaluator_set_ [protected]

Definition at line 108 of file ompl_ros_state_validity_checker.h.

planning_environment::PlanningMonitor* ompl_ros_interface::OmplRosStateValidityChecker::planning_monitor_ [protected]

Definition at line 105 of file ompl_ros_state_validity_checker.h.

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

• ompl_ros_state_validity_checker.h
• ompl_ros_state_validity_checker.cpp