pr2_workspace.cpp File Reference

#include <sbpl_arm_planner/pr2/pr2_workspace.h>

Include dependency graph for pr2_workspace.cpp:

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Defines
#define	OFFSET   fo_arm_up_arm_angle_offset
#define	PI   3.14159
Functions
bool	check_joint_limits (double shlift_wrt_shpan_uvect[3], double shlift[3], vector< double > elbow_pose, double endeff_pose[3])
bool	check_joint_limits_and_append_joint_angles (double pan, double shlift_wrt_shpan_uvect[3], double shlift[3], vector< double > &elbow_pose, double endeff_pose[3])
void	elbow_positions_given_endeff_pose (vector< vector< double > > &list_of_accepted_points, vector< vector< double > > &list_of_rejected_points, double pan_start, double resolution, double x, double y, double z)
vector< vector< double > >	elbow_positions_given_endeff_pose (double pan_start, double resolution, double x, double y, double z)
vector< vector< double > >	elbow_positions_given_pan (double x1, double y1, double z1, double r1, double x2, double y2, double z2, double r2, double vect[3])
void	grid2world (long i, long j, long k, double &x, double &y, double &z)
bool	position (long i, long j, long k)
void	separate_rejected_points (vector< vector< double > > list_of_rejected_points, vector< vector< double > > &rejected_due_to_lift, vector< vector< double > > &rejected_due_to_flex, vector< vector< double > > &rejected_due_to_roll)
void	world2grid (double x, double y, double z, long &i, long &j, long &k)
Variables
double	fo_arm_up_arm_angle_offset = 0.0
double	grid_size_x = 1.6
double	grid_size_y = 1.6
double	grid_size_z = 1.4
double	jnt_max [] = { 0.714, 1.396, 0.850, 0.000}
double	jnt_min [] = {-2.285, -0.523, -3.899, -2.299}
double	L_fo_arm = 0.321
double	L_sh = 0.100
double	L_up_arm = 0.410
double	lower_corner_x = -0.6
double	lower_corner_y = -1.25
double	lower_corner_z = -0.05
double	pan_res = 0.06981
double	resolution_x = 0.02
double	resolution_y = 0.02
double	resolution_z = 0.02
double	shoulder_pan_x = -0.050
double	shoulder_pan_y = -0.188
double	shoulder_pan_z = 0.743

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Define Documentation

#define OFFSET   fo_arm_up_arm_angle_offset

Definition at line 29 of file pr2_workspace.cpp.

#define PI   3.14159

Definition at line 30 of file pr2_workspace.cpp.

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Function Documentation

bool check_joint_limits	(	double	shlift_wrt_shpan_uvect[3],
		double	shlift[3],
		vector< double >	elbow_pose,
		double	endeff_pose[3]
	)

Definition at line 213 of file pr2_workspace.cpp.

bool check_joint_limits_and_append_joint_angles	(	double	pan,
		double	shlift_wrt_shpan_uvect[3],
		double	shlift[3],
		vector< double > &	elbow_pose,
		double	endeff_pose[3]
	)

Definition at line 117 of file pr2_workspace.cpp.

void elbow_positions_given_endeff_pose	(	vector< vector< double > > &	list_of_accepted_points,
		vector< vector< double > > &	list_of_rejected_points,
		double	pan_start,
		double	resolution,
		double	x,
		double	y,
		double	z
	)

Definition at line 336 of file pr2_workspace.cpp.

vector<vector<double> > elbow_positions_given_endeff_pose	(	double	pan_start,
		double	resolution,
		double	x,
		double	y,
		double	z
	)

Definition at line 283 of file pr2_workspace.cpp.

vector<vector<double> > elbow_positions_given_pan	(	double	x1,
		double	y1,
		double	z1,
		double	r1,
		double	x2,
		double	y2,
		double	z2,
		double	r2,
		double	vect[3]
	)

Definition at line 55 of file pr2_workspace.cpp.

void grid2world	(	long	i,
		long	j,
		long	k,
		double &	x,
		double &	y,
		double &	z
	)

Definition at line 33 of file pr2_workspace.cpp.

bool position	(	long	i,
		long	j,
		long	k
	)

Definition at line 424 of file pr2_workspace.cpp.

void separate_rejected_points	(	vector< vector< double > >	list_of_rejected_points,
		vector< vector< double > > &	rejected_due_to_lift,
		vector< vector< double > > &	rejected_due_to_flex,
		vector< vector< double > > &	rejected_due_to_roll
	)

Definition at line 394 of file pr2_workspace.cpp.

void world2grid	(	double	x,
		double	y,
		double	z,
		long &	i,
		long &	j,
		long &	k
	)

Definition at line 40 of file pr2_workspace.cpp.

---

Variable Documentation

double fo_arm_up_arm_angle_offset = 0.0

Definition at line 28 of file pr2_workspace.cpp.

double grid_size_x = 1.6

Definition at line 8 of file pr2_workspace.cpp.

double grid_size_y = 1.6

Definition at line 9 of file pr2_workspace.cpp.

double grid_size_z = 1.4

Definition at line 10 of file pr2_workspace.cpp.

double jnt_max[] = { 0.714, 1.396, 0.850, 0.000}

Definition at line 26 of file pr2_workspace.cpp.

double jnt_min[] = {-2.285, -0.523, -3.899, -2.299}

Definition at line 25 of file pr2_workspace.cpp.

double L_fo_arm = 0.321

Definition at line 22 of file pr2_workspace.cpp.

double L_sh = 0.100

Definition at line 23 of file pr2_workspace.cpp.

double L_up_arm = 0.410

Definition at line 21 of file pr2_workspace.cpp.

double lower_corner_x = -0.6

Definition at line 5 of file pr2_workspace.cpp.

double lower_corner_y = -1.25

Definition at line 6 of file pr2_workspace.cpp.

double lower_corner_z = -0.05

Definition at line 7 of file pr2_workspace.cpp.

double pan_res = 0.06981

Definition at line 15 of file pr2_workspace.cpp.

double resolution_x = 0.02

Definition at line 12 of file pr2_workspace.cpp.

double resolution_y = 0.02

Definition at line 13 of file pr2_workspace.cpp.

double resolution_z = 0.02

Definition at line 14 of file pr2_workspace.cpp.

double shoulder_pan_x = -0.050

Definition at line 17 of file pr2_workspace.cpp.

double shoulder_pan_y = -0.188

Definition at line 18 of file pr2_workspace.cpp.

double shoulder_pan_z = 0.743

Definition at line 19 of file pr2_workspace.cpp.