constraint_aware_spline_smoother::FeasibilityChecker Class Reference

#include <parabolic_blend_shortcutter.h>

Inheritance diagram for constraint_aware_spline_smoother::FeasibilityChecker:

List of all members.

Public Member Functions
virtual bool	ConfigFeasible (const ParabolicRamp::Vector &x)
	FeasibilityChecker ()
void	initialize ()
bool	isActive ()
void	resetRequest ()
virtual bool	SegmentFeasible (const Vector &a, const Vector &b)
bool	setInitial (const trajectory_msgs::JointTrajectory &trajectory, const std::string &group_name, const arm_navigation_msgs::RobotState &start_state, const arm_navigation_msgs::Constraints &path_constraints)
Private Member Functions
void	discretizeTrajectory (const trajectory_msgs::JointTrajectory &trajectory, trajectory_msgs::JointTrajectory &trajectory_out)
bool	setupCollisionEnvironment ()
Private Attributes
bool	active_
planning_environment::CollisionModelsInterface *	collision_models_interface_
double	discretization_
std::vector< std::string >	joint_names_
ros::NodeHandle	node_handle_
arm_navigation_msgs::Constraints	path_constraints_

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Detailed Description

Definition at line 66 of file parabolic_blend_shortcutter.h.

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Constructor & Destructor Documentation

constraint_aware_spline_smoother::FeasibilityChecker::FeasibilityChecker

(

)

Definition at line 91 of file parabolic_blend_shortcutter.h.

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Member Function Documentation

bool constraint_aware_spline_smoother::FeasibilityChecker::ConfigFeasible

(

const ParabolicRamp::Vector &

x

)

[virtual]

Implements ParabolicRamp::FeasibilityCheckerBase.

Definition at line 188 of file parabolic_blend_shortcutter.h.

void constraint_aware_spline_smoother::FeasibilityChecker::discretizeTrajectory	(	const trajectory_msgs::JointTrajectory &	trajectory,
		trajectory_msgs::JointTrajectory &	trajectory_out
	)		[private]

Definition at line 156 of file parabolic_blend_shortcutter.h.

void constraint_aware_spline_smoother::FeasibilityChecker::initialize

(

)

Definition at line 101 of file parabolic_blend_shortcutter.h.

bool constraint_aware_spline_smoother::FeasibilityChecker::isActive

(

)

Definition at line 96 of file parabolic_blend_shortcutter.h.

void constraint_aware_spline_smoother::FeasibilityChecker::resetRequest

(

)

Definition at line 141 of file parabolic_blend_shortcutter.h.

bool constraint_aware_spline_smoother::FeasibilityChecker::SegmentFeasible	(	const Vector &	a,
		const Vector &	b
	)		[virtual]

Implements ParabolicRamp::FeasibilityCheckerBase.

Definition at line 210 of file parabolic_blend_shortcutter.h.

bool constraint_aware_spline_smoother::FeasibilityChecker::setInitial	(	const trajectory_msgs::JointTrajectory &	trajectory,
		const std::string &	group_name,
		const arm_navigation_msgs::RobotState &	start_state,
		const arm_navigation_msgs::Constraints &	path_constraints
	)

Definition at line 115 of file parabolic_blend_shortcutter.h.

bool constraint_aware_spline_smoother::FeasibilityChecker::setupCollisionEnvironment

(

)

[private]

Definition at line 145 of file parabolic_blend_shortcutter.h.

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Member Data Documentation

bool constraint_aware_spline_smoother::FeasibilityChecker::active_ [private]

Definition at line 81 of file parabolic_blend_shortcutter.h.

planning_environment::CollisionModelsInterface* constraint_aware_spline_smoother::FeasibilityChecker::collision_models_interface_ [private]

Definition at line 85 of file parabolic_blend_shortcutter.h.

double constraint_aware_spline_smoother::FeasibilityChecker::discretization_ [private]

Definition at line 82 of file parabolic_blend_shortcutter.h.

std::vector<std::string> constraint_aware_spline_smoother::FeasibilityChecker::joint_names_ [private]

Definition at line 80 of file parabolic_blend_shortcutter.h.

ros::NodeHandle constraint_aware_spline_smoother::FeasibilityChecker::node_handle_ [private]

Definition at line 83 of file parabolic_blend_shortcutter.h.

arm_navigation_msgs::Constraints constraint_aware_spline_smoother::FeasibilityChecker::path_constraints_ [private]

Definition at line 88 of file parabolic_blend_shortcutter.h.

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

• parabolic_blend_shortcutter.h