ompl_ros_interface::OmplRosIKSampleableRegion Class Reference

Inherits from ompl::base::GoalSampleableRegion and can be used to sample goals using IK. More...

#include <ompl_ros_ik_goal_sampleable_region.h>

Public Member Functions
bool	configureOnRequest (const arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response, const unsigned int &max_sample_count=100)
	Configure the GoalSampleableRegion when a request is received. This is typically a one time configuration for each planning request.
bool	initialize (const ompl::base::StateSpacePtr &state_space, const std::string &kinematics_solver_name, const std::string &group_name, const std::string &end_effector_name, const planning_environment::CollisionModelsInterface *cmi)
	Initialize the goal sampleable region.
virtual unsigned int	maxSampleCount (void) const
	Get the maximum sample count.
	OmplRosIKSampleableRegion (const ompl::base::SpaceInformationPtr &space_information)
	Inherits from ompl::base::GoalSampleableRegion and can be used to sample goals using IK.
virtual void	sampleGoal (ompl::base::State *state) const
	Sample a goal in the goal sampleable region.
Private Member Functions
void	sampleGoals (const unsigned int &number_goals, std::vector< arm_navigation_msgs::RobotState > &sampled_states_vector) const
Private Attributes
const planning_environment::CollisionModelsInterface *	collision_models_interface_
std::string	end_effector_name_
std::string	group_name_
std::vector < geometry_msgs::PoseStamped >	ik_poses_
unsigned int	ik_poses_counter_
pluginlib::ClassLoader < kinematics::KinematicsBase >	kinematics_loader_
kinematics::KinematicsBase *	kinematics_solver_
std::string	kinematics_solver_name_
unsigned int	max_sample_count_
ompl_ros_interface::OmplStateToRobotStateMapping	ompl_state_to_robot_state_mapping_
ompl_ros_interface::RobotStateToOmplStateMapping	robot_state_to_ompl_state_mapping_
ompl::base::ScopedState < ompl::base::CompoundStateSpace >	scoped_state_
arm_navigation_msgs::RobotState	seed_state_
arm_navigation_msgs::RobotState	solution_state_
ompl::base::StateSpacePtr	state_space_

Detailed Description

Inherits from ompl::base::GoalSampleableRegion and can be used to sample goals using IK.

Definition at line 67 of file ompl_ros_ik_goal_sampleable_region.h.

Constructor & Destructor Documentation

ompl_ros_interface::OmplRosIKSampleableRegion::OmplRosIKSampleableRegion ( const ompl::base::SpaceInformationPtr & space_information ) [inline]

Inherits from ompl::base::GoalSampleableRegion and can be used to sample goals using IK.

Parameters:

space_information

An instance of the space information to use for initialization

Definition at line 74 of file ompl_ros_ik_goal_sampleable_region.h.

Member Function Documentation

bool ompl_ros_interface::OmplRosIKSampleableRegion::configureOnRequest	(	const arm_navigation_msgs::GetMotionPlan::Request &	request,
		arm_navigation_msgs::GetMotionPlan::Response &	response,
		const unsigned int &	max_sample_count = `100`
	)

Configure the GoalSampleableRegion when a request is received. This is typically a one time configuration for each planning request.

Parameters:

	request	The request that the planner gets
	response	The response to the planning request

Definition at line 83 of file ompl_ros_ik_goal_sampleable_region.cpp.

bool ompl_ros_interface::OmplRosIKSampleableRegion::initialize	(	const ompl::base::StateSpacePtr &	state_space,
		const std::string &	kinematics_solver_name,
		const std::string &	group_name,
		const std::string &	end_effector_name,
		const planning_environment::CollisionModelsInterface *	cmi
	)

Initialize the goal sampleable region.

Parameters:

	state_space	- The state space to use for initialization of the goal sampleable region
	kinematics_solver_name	- The name of the kinematics solver to be used to populate the goal sampleable region
	group_name	- The name of the group
	end_effector_name	- The name of the end effector for this particular group
	planning_monitor	- A pointer to the planning monitor

Definition at line 41 of file ompl_ros_ik_goal_sampleable_region.cpp.

unsigned int ompl_ros_interface::OmplRosIKSampleableRegion::maxSampleCount ( void ) const [virtual]

Get the maximum sample count.

Returns:: maximum sample count

Definition at line 120 of file ompl_ros_ik_goal_sampleable_region.cpp.

void ompl_ros_interface::OmplRosIKSampleableRegion::sampleGoal ( ompl::base::State * state ) const [virtual]

Sample a goal in the goal sampleable region.

Parameters:

state

- The state to be sampled and filled in

Definition at line 125 of file ompl_ros_ik_goal_sampleable_region.cpp.

void ompl_ros_interface::OmplRosIKSampleableRegion::sampleGoals	(	const unsigned int &	number_goals,
		std::vector< arm_navigation_msgs::RobotState > &	sampled_states_vector
	)			const `[private]`