ompl_ros_interface::OmplRosRPYIKStateTransformer Class Reference

#include <ompl_ros_rpy_ik_state_transformer.h>

Inheritance diagram for ompl_ros_interface::OmplRosRPYIKStateTransformer:

Public Member Functions
virtual bool	configureOnRequest (const arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response)
	Configure the transformer when a request is received. This is typically a one time configuration for each planning request.
virtual bool	forwardTransform (const arm_navigation_msgs::RobotState &robot_state, ompl::base::State &ompl_state)
	Compute the forward transform (from physical state to planning state).
virtual arm_navigation_msgs::RobotState	getDefaultState ()
	Get a default physical state.
virtual bool	initialize ()
	Custom initialization can be performed here.
virtual bool	inverseTransform (const ompl::base::State &ompl_state, arm_navigation_msgs::RobotState &robot_state)
	Compute the inverse transform (from planning state to physical state).
	OmplRosRPYIKStateTransformer (const ompl::base::StateSpacePtr &state_space, const planning_models::KinematicModel::JointModelGroup *physical_joint_model_group)
	~OmplRosRPYIKStateTransformer ()
Private Member Functions
double	generateRandomNumber (const double &min, const double &max)
void	generateRandomState (arm_navigation_msgs::RobotState &robot_state)
void	omplStateToPose (const ompl::base::State &ompl_state, geometry_msgs::Pose &pose)
Private Attributes
ompl_ros_interface::OmplStateToRobotStateMapping	ompl_state_to_robot_state_mapping_
int	pitch_index_
int	real_vector_index_
ompl_ros_interface::RobotStateToOmplStateMapping	robot_state_to_ompl_state_mapping_
int	roll_index_
boost::shared_ptr < ompl::base::ScopedState < ompl::base::CompoundStateSpace > >	scoped_state_
arm_navigation_msgs::RobotState	seed_state_
arm_navigation_msgs::RobotState	solution_state_
int	x_index_
int	y_index_
int	yaw_index_
int	z_index_

Detailed Description

Definition at line 50 of file ompl_ros_rpy_ik_state_transformer.h.

Constructor & Destructor Documentation

ompl_ros_interface::OmplRosRPYIKStateTransformer::OmplRosRPYIKStateTransformer	(	const ompl::base::StateSpacePtr &	state_space,
		const planning_models::KinematicModel::JointModelGroup *	physical_joint_model_group
	)			`[inline]`

Definition at line 57 of file ompl_ros_rpy_ik_state_transformer.h.

ompl_ros_interface::OmplRosRPYIKStateTransformer::~OmplRosRPYIKStateTransformer ( ) [inline]

Definition at line 61 of file ompl_ros_rpy_ik_state_transformer.h.

Member Function Documentation

bool ompl_ros_interface::OmplRosRPYIKStateTransformer::configureOnRequest	(	const arm_navigation_msgs::GetMotionPlan::Request &	request,
		arm_navigation_msgs::GetMotionPlan::Response &	response
	)			`[virtual]`

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

Implements ompl_ros_interface::OmplRosIKStateTransformer.

Definition at line 80 of file ompl_ros_rpy_ik_state_transformer.cpp.

bool ompl_ros_interface::OmplRosRPYIKStateTransformer::forwardTransform	(	const arm_navigation_msgs::RobotState &	robot_state,
		ompl::base::State &	ompl_state
	)			`[virtual]`

Compute the forward transform (from physical state to planning state).

Implements ompl_ros_interface::OmplRosIKStateTransformer.

Definition at line 119 of file ompl_ros_rpy_ik_state_transformer.cpp.

double ompl_ros_interface::OmplRosRPYIKStateTransformer::generateRandomNumber	(	const double &	min,
		const double &	max
	)			`[private]`

Definition at line 167 of file ompl_ros_rpy_ik_state_transformer.cpp.

void ompl_ros_interface::OmplRosRPYIKStateTransformer::generateRandomState ( arm_navigation_msgs::RobotState & robot_state ) [private]

Definition at line 156 of file ompl_ros_rpy_ik_state_transformer.cpp.

arm_navigation_msgs::RobotState ompl_ros_interface::OmplRosRPYIKStateTransformer::getDefaultState ( ) [virtual]

Get a default physical state.

Implements ompl_ros_interface::OmplRosIKStateTransformer.

Definition at line 141 of file ompl_ros_rpy_ik_state_transformer.cpp.

bool ompl_ros_interface::OmplRosRPYIKStateTransformer::initialize ( ) [virtual]

Custom initialization can be performed here.

Implements ompl_ros_interface::OmplRosIKStateTransformer.

Definition at line 42 of file ompl_ros_rpy_ik_state_transformer.cpp.

bool ompl_ros_interface::OmplRosRPYIKStateTransformer::inverseTransform	(	const ompl::base::State &	ompl_state,
		arm_navigation_msgs::RobotState &	robot_state
	)			`[virtual]`