orientation_solver.h

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/*
 * Written by Gokul Subramanian, MSE in Robotics & CIS 2011
 * (Maintained by Benjamin Cohen)
 * Advised by Professor Maxim Likhachev
 * University of Pennsylvania
 * 4/14/2010
*/

#include <stdio.h>
#include <iostream>
#include <vector>
#include <string>
#include <sbpl_arm_planner/sbpl_collision_space.h>

#ifndef _ORIENTATION_SOLVER_
#define _ORIENTATION_SOLVER_

using namespace std;


namespace sbpl_arm_planner
{

class RPYSolver
{
  public:

    RPYSolver(SBPLArmModel *arm,SBPLCollisionSpace *cspace);
    
    ~RPYSolver(){};

    void orientationSolver(double*, double, double, double, double, double, double, double, double, double, int);

    bool isOrientationFeasible(const double* rpy, std::vector<double> &start, std::vector<double> &prefinal, std::vector<double> &final);

    void printStats();

    void getStats(std::vector<double> &stats);

  private:

    SBPLArmModel *arm_;

    SBPLCollisionSpace *cspace_;

    bool verbose_;

    bool try_both_directions_;

    int num_calls_;

    int num_invalid_predictions_;

    int num_invalid_solution_;

    int num_invalid_path_to_solution_;
};

}

#endif

---

sbpl_arm_planner
Author(s): Benjamin Cohen/bcohen@seas.upenn.edu
autogenerated on Wed Feb 29 11:46:16 2012