chomp Namespace Reference

Classes
class	ChompCost
	Represents the smoothness cost for CHOMP, for a single joint. More...
class	ChompOptimizer
class	ChompParameters
class	ChompPlannerNode
	ROS Node which responds to motion planning requests using the CHOMP algorithm. More...
class	ChompTrajectory
	Represents a discretized joint-space trajectory for CHOMP. More...
class	MultivariateGaussian
	Generates samples from a multivariate gaussian distribution. More...
Functions
double	getRandomDouble ()
Variables
static const int	DIFF_RULE_LENGTH = 7
static const double	DIFF_RULES [3][DIFF_RULE_LENGTH]

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Detailed Description

Author:

Mrinal Kalakrishnan

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Function Documentation

double chomp::getRandomDouble

(

)

Definition at line 54 of file chomp_optimizer.cpp.

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Variable Documentation

const int chomp::DIFF_RULE_LENGTH = 7 [static]

Definition at line 47 of file chomp_utils.h.

const double chomp::DIFF_RULES[3][DIFF_RULE_LENGTH] [static]

Initial value:

 {
    {0, 0, -2/6.0, -3/6.0, 6/6.0, -1/6.0, 0},                   
    {0, -1/12.0, 16/12.0, -30/12.0, 16/12.0, -1/12.0, 0},       
    {0, 1/12.0, -17/12.0, 46/12.0, -46/12.0, 17/12.0, -1/12.0}  
}

Definition at line 50 of file chomp_utils.h.