Contains all the information needed for CHOMP planning. More...

#include <chomp_robot_model.h>

Classes
struct	ChompJoint
	Contains information about a single joint for CHOMP planning. More...
struct	ChompPlanningGroup
	Contains information about a planning group. More...
Public Member Functions
	ChompRobotModel ()
void	getActiveJointInformation (const std::string &link_name, std::vector< int > &active_joints, int &segment_number)
const KDL::TreeFkSolverJointPosAxis *	getForwardKinematicsSolver () const
const KDL::Tree *	getKDLTree () const
	Gets the KDL tree.
int	getNumKDLJoints () const
	Gets the number of joints in the KDL tree.
const ChompPlanningGroup *	getPlanningGroup (const std::string &group_name) const
	Gets the planning group corresponding to the group name.
const std::string &	getReferenceFrame () const
bool	init (const planning_environment::CollisionModels *model)
	Initializes the robot models for CHOMP.
template<typename T >
void	jointMsgToArray (T &msg_vector, Eigen::MatrixXd::RowXpr joint_array)
	Takes in an std::vector of joint value messages, and writes them out into the KDL joint array.
template<typename T >
void	jointMsgToArray (T &msg_vector, KDL::JntArray &joint_array)
	Takes in an std::vector of joint value messages, and writes them out into the KDL joint array.
void	jointStateToArray (const sensor_msgs::JointState &joint_state, KDL::JntArray &joint_array)
void	jointStateToArray (const sensor_msgs::JointState &joint_state, Eigen::MatrixXd::RowXpr joint_array)
const std::string	kdlNumberToUrdfName (int kdl_number) const
	Gets the URDF joint name from the KDL joint number.
void	publishCollisionPoints (ros::Publisher &vis_marker)
int	urdfNameToKdlNumber (const std::string &urdf_name) const
	Gets the KDL joint number from the URDF joint name.
virtual	~ChompRobotModel ()
Private Member Functions
void	getLinkInformation (const std::string link_name, std::vector< int > &active_joints, int &segment_number)
Private Attributes
KDL::TreeFkSolverJointPosAxis *	fk_solver_
std::map< std::string, std::string >	joint_segment_mapping_
std::vector< std::string >	kdl_number_to_urdf_name_
KDL::Tree	kdl_tree_
double	max_radius_clearance_
ros::NodeHandle	node_handle_
int	num_kdl_joints_
std::map< std::string, ChompPlanningGroup >	planning_groups_
std::string	reference_frame_
ros::NodeHandle	root_handle_
std::map< std::string, std::string >	segment_joint_mapping_
std::map< std::string, int >	urdf_name_to_kdl_number_

Detailed Description

Contains all the information needed for CHOMP planning.

Initializes the robot models for CHOMP from the "robot_description" parameter, in the same way that planning_environment::RobotModels does it.

Definition at line 66 of file chomp_robot_model.h.

Constructor & Destructor Documentation

chomp::ChompRobotModel::ChompRobotModel ( )

Definition at line 50 of file chomp_robot_model.cpp.

chomp::ChompRobotModel::~ChompRobotModel ( ) [virtual]

Definition at line 55 of file chomp_robot_model.cpp.

Member Function Documentation

void chomp::ChompRobotModel::getActiveJointInformation	(	const std::string &	link_name,
		std::vector< int > &	active_joints,
		int &	segment_number
	)

Definition at line 244 of file chomp_robot_model.cpp.

const KDL::TreeFkSolverJointPosAxis * chomp::ChompRobotModel::getForwardKinematicsSolver ( ) const [inline]

Definition at line 236 of file chomp_robot_model.h.

const KDL::Tree * chomp::ChompRobotModel::getKDLTree ( ) const [inline]

Gets the KDL tree.

Definition at line 214 of file chomp_robot_model.h.

void chomp::ChompRobotModel::getLinkInformation	(	const std::string	link_name,
		std::vector< int > &	active_joints,
		int &	segment_number
	)		`[private]`

Definition at line 219 of file chomp_robot_model.cpp.

int chomp::ChompRobotModel::getNumKDLJoints ( ) const [inline]

Gets the number of joints in the KDL tree.

Definition at line 209 of file chomp_robot_model.h.

const ChompRobotModel::ChompPlanningGroup * chomp::ChompRobotModel::getPlanningGroup ( const std::string & group_name ) const [inline]

Gets the planning group corresponding to the group name.

Definition at line 200 of file chomp_robot_model.h.

const std::string & chomp::ChompRobotModel::getReferenceFrame ( ) const [inline]

Definition at line 241 of file chomp_robot_model.h.

bool chomp::ChompRobotModel::init ( const planning_environment::CollisionModels * model )

Initializes the robot models for CHOMP.

Returns:: true if successful, false if not

Definition at line 59 of file chomp_robot_model.cpp.

template<typename T >

void chomp::ChompRobotModel::jointMsgToArray	(	T &	msg_vector,
		Eigen::MatrixXd::RowXpr	joint_array
	)

Takes in an std::vector of joint value messages, and writes them out into the KDL joint array.

The template typename T needs to be an std::vector of some message which has an std::string "joint_name" and a double array/vector "value".

Names to KDL joint index mappings are performed using the given ChompRobotModel.

Definition at line 271 of file chomp_robot_model.h.

template<typename T >

void chomp::ChompRobotModel::jointMsgToArray	(	T &	msg_vector,
		KDL::JntArray &	joint_array
	)

Takes in an std::vector of joint value messages, and writes them out into the KDL joint array.

The template typename T needs to be an std::vector of some message which has an std::string "joint_name" and a double array/vector "value".

Names to KDL joint index mappings are performed using the given ChompRobotModel.

Definition at line 283 of file chomp_robot_model.h.

void chomp::ChompRobotModel::jointStateToArray	(	const sensor_msgs::JointState &	joint_state,
		KDL::JntArray &	joint_array
	)		`[inline]`

Definition at line 294 of file chomp_robot_model.h.

void chomp::ChompRobotModel::jointStateToArray	(	const sensor_msgs::JointState &	joint_state,
		Eigen::MatrixXd::RowXpr	joint_array
	)		`[inline]`

Definition at line 305 of file chomp_robot_model.h.

const std::string chomp::ChompRobotModel::kdlNumberToUrdfName ( int kdl_number ) const [inline]

Gets the URDF joint name from the KDL joint number.

Returns:: "" if the number does not have a name

Definition at line 228 of file chomp_robot_model.h.

void chomp::ChompRobotModel::publishCollisionPoints ( ros::Publisher & vis_marker )

int chomp::ChompRobotModel::urdfNameToKdlNumber ( const std::string & urdf_name ) const [inline]

Gets the KDL joint number from the URDF joint name.

Returns:: -1 if the joint name is not found

Definition at line 219 of file chomp_robot_model.h.

Member Data Documentation

KDL::TreeFkSolverJointPosAxis* chomp::ChompRobotModel::fk_solver_ [private]

Forward kinematics solver for the tree

Definition at line 188 of file chomp_robot_model.h.

std::map<std::string, std::string> chomp::ChompRobotModel::joint_segment_mapping_ [private]

Joint -> Segment mapping for KDL tree

Definition at line 183 of file chomp_robot_model.h.

std::vector<std::string> chomp::ChompRobotModel::kdl_number_to_urdf_name_ [private]

Mapping from KDL joint number to URDF joint name

Definition at line 185 of file chomp_robot_model.h.

KDL::Tree chomp::ChompRobotModel::kdl_tree_ [private]

The KDL tree of the entire robot

Definition at line 181 of file chomp_robot_model.h.

double chomp::ChompRobotModel::max_radius_clearance_ [private]

Maximum value of radius + clearance for any of the collision points

Definition at line 190 of file chomp_robot_model.h.

ros::NodeHandle chomp::ChompRobotModel::node_handle_ [private]

Definition at line 179 of file chomp_robot_model.h.

int chomp::ChompRobotModel::num_kdl_joints_ [private]

Total number of joints in the KDL tree

Definition at line 182 of file chomp_robot_model.h.

std::map<std::string, ChompPlanningGroup> chomp::ChompRobotModel::planning_groups_ [private]

Planning group information

Definition at line 187 of file chomp_robot_model.h.

std::string chomp::ChompRobotModel::reference_frame_ [private]

Reference frame for all kinematics operations

Definition at line 189 of file chomp_robot_model.h.

ros::NodeHandle chomp::ChompRobotModel::root_handle_ [private]

ROS Node handle

Definition at line 179 of file chomp_robot_model.h.

std::map<std::string, std::string> chomp::ChompRobotModel::segment_joint_mapping_ [private]

Segment -> Joint mapping for KDL tree

Definition at line 184 of file chomp_robot_model.h.

std::map<std::string, int> chomp::ChompRobotModel::urdf_name_to_kdl_number_ [private]

Mapping from URDF joint name to KDL joint number

Definition at line 186 of file chomp_robot_model.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation