ompl_ros_interface::OmplRosIKSampler Class Reference

#include <ompl_ros_ik_sampler.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 kinematics solver when a request is received.
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 sampler.
	OmplRosIKSampler ()
	Default constructor.
bool	sampleGoal (const ompl::base::GoalLazySamples gls, ompl::base::State state)
	Sample a state in the goal region.
bool	sampleGoals (const ompl::base::GoalLazySamples gls, ompl::base::State state)
	Sample a state in the goal region.
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_
unsigned int	num_samples_
ompl_ros_interface::OmplStateToRobotStateMapping	ompl_state_to_robot_state_mapping_
ompl_ros_interface::RobotStateToOmplStateMapping	robot_state_to_ompl_state_mapping_
boost::shared_ptr < 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

Definition at line 66 of file ompl_ros_ik_sampler.h.

Constructor & Destructor Documentation

ompl_ros_interface::OmplRosIKSampler::OmplRosIKSampler ( ) [inline]

Default constructor.

Definition at line 73 of file ompl_ros_ik_sampler.h.

Member Function Documentation

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

Configure the kinematics solver when a request is received.

Parameters:

	request	- The motion planning request
	response	- The response to the motion planning request. Use this to fill in any error codes
	max_sample_count	- The maximum number of samples that the IK should generate

Definition at line 101 of file ompl_ros_ik_sampler.cpp.

bool ompl_ros_interface::OmplRosIKSampler::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 sampler.

Parameters:

	state_space	- The state manifld that the planner is operating on
	kinematics_solver_name	- The name of the plugin that the kinematics solver will use
	group_name	- The name of the group that this solver is operating on
	end_effector_name	- The name of the end effector for this group
	planning_monitor	- A pointer to an instance of the planning monitor