chomp::ChompPlannerNode Class Reference

ROS Node which responds to motion planning requests using the CHOMP algorithm. More...

#include <chomp_planner_node.h>

Public Member Functions
	ChompPlannerNode (ros::NodeHandle node_handle, collision_proximity::CollisionProximitySpace *space)
	Default constructor.
bool	filterJointTrajectory (arm_navigation_msgs::FilterJointTrajectoryWithConstraints::Request &req, arm_navigation_msgs::FilterJointTrajectoryWithConstraints::Response &res)
bool	init ()
	Initialize the node.
bool	planKinematicPath (arm_navigation_msgs::GetMotionPlan::Request &req, arm_navigation_msgs::GetMotionPlan::Response &res)
	Main entry point for motion planning (callback for the plan_kinematic_path service).
int	run ()
	Runs the node.
virtual	~ChompPlannerNode ()
	Destructor.
Private Member Functions
void	getLimits (const trajectory_msgs::JointTrajectory &trajectory, std::vector< arm_navigation_msgs::JointLimits > &limits_out)
void	jointStateToArray (const sensor_msgs::JointState &joint_state, std::string &planning_group_name, Eigen::MatrixXd::RowXpr joint_array)
Private Attributes
ChompParameters	chomp_parameters_
planning_environment::CollisionModels *	collision_models_
collision_proximity::CollisionProximitySpace *	collision_proximity_space_
ros::ServiceServer	filter_joint_trajectory_service_
ros::ServiceClient	filter_trajectory_client_
std::map< std::string, arm_navigation_msgs::JointLimits >	joint_limits_
std::map< std::string, double >	joint_velocity_limits_
int	maximum_spline_points_
int	minimum_spline_points_
ros::NodeHandle	node_handle_
ros::ServiceServer	plan_kinematic_path_service_
std::string	reference_frame_
planning_models::KinematicModel *	robot_model_
ros::NodeHandle	root_handle_
double	trajectory_discretization_
double	trajectory_duration_
bool	use_trajectory_filter_
ros::Publisher	vis_marker_array_publisher_
ros::Publisher	vis_marker_publisher_

Detailed Description

ROS Node which responds to motion planning requests using the CHOMP algorithm.

Definition at line 61 of file chomp_planner_node.h.

Constructor & Destructor Documentation

chomp::ChompPlannerNode::ChompPlannerNode	(	ros::NodeHandle	node_handle,
		collision_proximity::CollisionProximitySpace *	space
	)

Default constructor.

Definition at line 61 of file chomp_planner_node.cpp.

chomp::ChompPlannerNode::~ChompPlannerNode ( ) [virtual]

Destructor.

Definition at line 136 of file chomp_planner_node.cpp.

Member Function Documentation

bool chomp::ChompPlannerNode::filterJointTrajectory	(	arm_navigation_msgs::FilterJointTrajectoryWithConstraints::Request &	req,
		arm_navigation_msgs::FilterJointTrajectoryWithConstraints::Response &	res
	)

Definition at line 287 of file chomp_planner_node.cpp.

void chomp::ChompPlannerNode::getLimits	(	const trajectory_msgs::JointTrajectory &	trajectory,
		std::vector< arm_navigation_msgs::JointLimits > &	limits_out
	)			`[private]`

bool chomp::ChompPlannerNode::init ( )

Initialize the node.

Returns:: true if successful, false if not

Definition at line 67 of file chomp_planner_node.cpp.

void chomp::ChompPlannerNode::jointStateToArray	(	const sensor_msgs::JointState &	joint_state,
		std::string &	planning_group_name,
		Eigen::MatrixXd::RowXpr	joint_array
	)			`[inline, private]`

Definition at line 124 of file chomp_planner_node.h.

bool chomp::ChompPlannerNode::planKinematicPath	(	arm_navigation_msgs::GetMotionPlan::Request &	req,
		arm_navigation_msgs::GetMotionPlan::Response &	res
	)