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ompl_ros_interface::OmplRosStateValidityChecker Class Reference

A ROS wrapper around a ompl::base::StateValidityChecker object. More...

#include <ompl_ros_state_validity_checker.h>

Inheritance diagram for ompl_ros_interface::OmplRosStateValidityChecker:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void configureOnRequest (planning_models::KinematicState *kinematic_state, planning_models::KinematicState::JointStateGroup *physical_joint_state_group, const arm_navigation_msgs::GetMotionPlan::Request &request)
arm_navigation_msgs::ArmNavigationErrorCodes getLastErrorCode ()
virtual bool isStateValid (const ompl::base::State *ompl_state)=0
virtual bool isValid (const ompl::base::State *ompl_state) const =0
 Callback function used to determine whether a state is valid or not.
 OmplRosStateValidityChecker (ompl::base::SpaceInformation *si, planning_environment::CollisionModelsInterface *cmi)
 A default constructor.
void printSettings (std::ostream &out) const
 Used by the ROS space information to print information.

Protected Member Functions

arm_navigation_msgs::Constraints getPhysicalConstraints (const arm_navigation_msgs::Constraints &constraints)

Protected Attributes

planning_environment::CollisionModelsInterfacecollision_models_interface_
arm_navigation_msgs::ArmNavigationErrorCodes error_code_
planning_environment::KinematicConstraintEvaluatorSet goal_constraint_evaluator_set_
sensor_msgs::JointState joint_state_
planning_models::KinematicState::JointStateGroupjoint_state_group_
planning_models::KinematicStatekinematic_state_
planning_environment::KinematicConstraintEvaluatorSet path_constraint_evaluator_set_

Detailed Description

A ROS wrapper around a ompl::base::StateValidityChecker object.

Definition at line 56 of file ompl_ros_state_validity_checker.h.


Constructor & Destructor Documentation

ompl_ros_interface::OmplRosStateValidityChecker::OmplRosStateValidityChecker ( ompl::base::SpaceInformation *  si,
planning_environment::CollisionModelsInterface cmi 
) [inline]

A default constructor.

Parameters:
si - A pointer to the space information used by this checker
planning_monitor - A pointer to the planning monitor instance used by this checker

Definition at line 64 of file ompl_ros_state_validity_checker.h.


Member Function Documentation

void ompl_ros_interface::OmplRosStateValidityChecker::configureOnRequest ( planning_models::KinematicState kinematic_state,
planning_models::KinematicState::JointStateGroup physical_joint_state_group,
const arm_navigation_msgs::GetMotionPlan::Request request 
) [virtual]
arm_navigation_msgs::ArmNavigationErrorCodes ompl_ros_interface::OmplRosStateValidityChecker::getLastErrorCode (  )  [inline]

Definition at line 92 of file ompl_ros_state_validity_checker.h.

arm_navigation_msgs::Constraints ompl_ros_interface::OmplRosStateValidityChecker::getPhysicalConstraints ( const arm_navigation_msgs::Constraints constraints  )  [protected]

Definition at line 66 of file ompl_ros_state_validity_checker.cpp.

virtual bool ompl_ros_interface::OmplRosStateValidityChecker::isStateValid ( const ompl::base::State *  ompl_state  )  [pure virtual]
virtual bool ompl_ros_interface::OmplRosStateValidityChecker::isValid ( const ompl::base::State *  ompl_state  )  const [pure virtual]

Callback function used to determine whether a state is valid or not.

Implemented in ompl_ros_interface::OmplRosJointStateValidityChecker, and ompl_ros_interface::OmplRosTaskSpaceValidityChecker.

void ompl_ros_interface::OmplRosStateValidityChecker::printSettings ( std::ostream &  out  )  const

Used by the ROS space information to print information.

Definition at line 88 of file ompl_ros_state_validity_checker.cpp.


Member Data Documentation

Definition at line 105 of file ompl_ros_state_validity_checker.h.

Definition at line 110 of file ompl_ros_state_validity_checker.h.

Definition at line 109 of file ompl_ros_state_validity_checker.h.

Definition at line 111 of file ompl_ros_state_validity_checker.h.

Definition at line 104 of file ompl_ros_state_validity_checker.h.

Definition at line 106 of file ompl_ros_state_validity_checker.h.

Definition at line 108 of file ompl_ros_state_validity_checker.h.


The documentation for this class was generated from the following files:
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ompl_ros_interface
Author(s): Sachin Chitta
autogenerated on Fri Mar 1 14:20:54 2013