IRI ROS Specific Driver Class. More...

#include <wam_cartesian_planning_alg.h>

Public Types
typedef iri_wam_cartesian_planning::WamCartesianPlanningConfig	Config
	define config type
Public Member Functions
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
void	lock (void)
	Lock Algorithm.
void	omplToRos (ompl::geometric::PathGeometric &path, std::vector< geometry_msgs::PoseStamped > &vect)
void	planWithSimpleSetup (ompl::base::ScopedState< ompl::base::SE3StateSpace > &start, ompl::base::ScopedState< ompl::base::SE3StateSpace > &goal, const int &st, std::vector< geometry_msgs::PoseStamped > &vector)
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	WamCartesianPlanningAlgorithm (void)
	constructor
void	writeFile (ompl::geometric::PathGeometric &path, std::string &pathDir)
	~WamCartesianPlanningAlgorithm (void)
	Destructor.
Static Public Member Functions
static bool	isStateValid (const ompl::base::State *state)
Public Attributes
Config	config_
	config variable
ompl::base::StateSpacePtr	space
Protected Attributes
CMutex	alg_mutex_
	define config type

Detailed Description

IRI ROS Specific Driver Class.

Definition at line 51 of file wam_cartesian_planning_alg.h.

Member Typedef Documentation

typedef iri_wam_cartesian_planning::WamCartesianPlanningConfig WamCartesianPlanningAlgorithm::Config

define config type

Define a Config type with the WamCartesianPlanningConfig. All driver implementations will then use the same variable type Config.

Definition at line 71 of file wam_cartesian_planning_alg.h.

Constructor & Destructor Documentation

WamCartesianPlanningAlgorithm::WamCartesianPlanningAlgorithm ( void )

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 4 of file wam_cartesian_planning_alg.cpp.

WamCartesianPlanningAlgorithm::~WamCartesianPlanningAlgorithm ( void )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 15 of file wam_cartesian_planning_alg.cpp.

Member Function Documentation

void WamCartesianPlanningAlgorithm::config_update	(	Config &	new_cfg,
		uint32_t	level = `0`
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 19 of file wam_cartesian_planning_alg.cpp.

bool WamCartesianPlanningAlgorithm::isStateValid ( const ompl::base::State * state ) [static]

Definition at line 29 of file wam_cartesian_planning_alg.cpp.

void WamCartesianPlanningAlgorithm::lock ( void ) [inline]

Lock Algorithm.

Locks access to the Algorithm class

Definition at line 96 of file wam_cartesian_planning_alg.h.

void WamCartesianPlanningAlgorithm::omplToRos	(	ompl::geometric::PathGeometric &	path,
		std::vector< geometry_msgs::PoseStamped > &	vect
	)

Definition at line 80 of file wam_cartesian_planning_alg.cpp.

void WamCartesianPlanningAlgorithm::planWithSimpleSetup	(	ompl::base::ScopedState< ompl::base::SE3StateSpace > &	start,
		ompl::base::ScopedState< ompl::base::SE3StateSpace > &	goal,
		const int &	st,
		std::vector< geometry_msgs::PoseStamped > &	vector
	)