chomp::ChompRobotModel::ChompPlanningGroup Struct Reference

Contains information about a planning group. More...

#include <chomp_robot_model.h>

List of all members.

Public Member Functions
template<typename Derived >
void	getRandomState (Eigen::MatrixBase< Derived > &state_vec) const
Public Attributes
std::vector< ChompJoint >	chomp_joints_
boost::shared_ptr < KDL::TreeFkSolverJointPosAxisPartial >	fk_solver_
std::vector< std::string >	link_names_
std::string	name_
int	num_joints_

---

Detailed Description

Contains information about a planning group.

Definition at line 90 of file chomp_robot_model.h.

---

Member Function Documentation

template<typename Derived >

void chomp::ChompRobotModel::ChompPlanningGroup::getRandomState

(

Eigen::MatrixBase< Derived > &

state_vec

)

const

Gets a random state vector within the joint limits

Definition at line 247 of file chomp_robot_model.h.

---

Member Data Documentation

std::vector<ChompJoint> chomp::ChompRobotModel::ChompPlanningGroup::chomp_joints_

Joints used in planning

Definition at line 94 of file chomp_robot_model.h.

boost::shared_ptr<KDL::TreeFkSolverJointPosAxisPartial> chomp::ChompRobotModel::ChompPlanningGroup::fk_solver_

Forward kinematics solver for the group

Definition at line 96 of file chomp_robot_model.h.

std::vector<std::string> chomp::ChompRobotModel::ChompPlanningGroup::link_names_

Links used in planning

Definition at line 95 of file chomp_robot_model.h.

std::string chomp::ChompRobotModel::ChompPlanningGroup::name_

Name of the planning group

Definition at line 92 of file chomp_robot_model.h.

int chomp::ChompRobotModel::ChompPlanningGroup::num_joints_

Number of joints used in planning

Definition at line 93 of file chomp_robot_model.h.

---

The documentation for this struct was generated from the following file:

• chomp_robot_model.h