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:

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::CollisionModelsInterface *	collision_models_interface_
arm_navigation_msgs::ArmNavigationErrorCodes	error_code_
planning_environment::KinematicConstraintEvaluatorSet	goal_constraint_evaluator_set_
sensor_msgs::JointState	joint_state_
planning_models::KinematicState::JointStateGroup *	joint_state_group_
planning_models::KinematicState *	kinematic_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]`

Reimplemented in ompl_ros_interface::OmplRosTaskSpaceValidityChecker.

Definition at line 41 of file ompl_ros_state_validity_checker.cpp.

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]