Public Member Functions | Protected Attributes | Private Attributes
ompl_ros_interface::OmplRosIKStateTransformer Class Reference

A state trasformer that uses forward and inverse kinematics to convert to and from ompl and physical robot states. More...

#include <ompl_ros_ik_state_transformer.h>

Inheritance diagram for ompl_ros_interface::OmplRosIKStateTransformer:
Inheritance graph
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List of all members.

Public Member Functions

virtual bool configureOnRequest (const arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response)=0
 Configure the transformer when a request is received. This is typically a one time configuration for each planning request.
virtual bool forwardTransform (const arm_navigation_msgs::RobotState &robot_state, ompl::base::State &ompl_state)=0
 Compute the forward transform (from physical state to planning state)
virtual
arm_navigation_msgs::RobotState 
getDefaultState ()=0
 Get a default physical state.
virtual std::string getFrame ()
 Get the frame in which the kinematics solver is operating.
virtual bool initialize ()=0
 Custom initialization can be performed here.
virtual bool inverseTransform (const ompl::base::State &ompl_state, arm_navigation_msgs::RobotState &robot_state)=0
 Compute the inverse transform (from planning state to physical state)
 OmplRosIKStateTransformer (const ompl::base::StateSpacePtr &state_space, const planning_models::KinematicModel::JointModelGroup *physical_joint_model_group)
 Default constructor.
 ~OmplRosIKStateTransformer ()

Protected Attributes

kinematics::KinematicsBasekinematics_solver_

Private Attributes

std::string group_name_
pluginlib::ClassLoader
< kinematics::KinematicsBase
kinematics_loader_
std::string physical_group_name_

Detailed Description

A state trasformer that uses forward and inverse kinematics to convert to and from ompl and physical robot states.

Definition at line 54 of file ompl_ros_ik_state_transformer.h.


Constructor & Destructor Documentation

ompl_ros_interface::OmplRosIKStateTransformer::OmplRosIKStateTransformer ( const ompl::base::StateSpacePtr &  state_space,
const planning_models::KinematicModel::JointModelGroup physical_joint_model_group 
)

Default constructor.

Parameters:
state_space- The state space that the planner is operating on
physical_joint_model_group- The "physical" joint model group that the planner is operating on

Definition at line 41 of file ompl_ros_ik_state_transformer.cpp.

Definition at line 64 of file ompl_ros_ik_state_transformer.h.


Member Function Documentation

Configure the transformer when a request is received. This is typically a one time configuration for each planning request.

Implements ompl_ros_interface::OmplRosStateTransformer.

Implemented in ompl_ros_interface::OmplRosRPYIKStateTransformer.

virtual bool ompl_ros_interface::OmplRosIKStateTransformer::forwardTransform ( const arm_navigation_msgs::RobotState robot_state,
ompl::base::State &  ompl_state 
) [pure virtual]

Compute the forward transform (from physical state to planning state)

Implements ompl_ros_interface::OmplRosStateTransformer.

Implemented in ompl_ros_interface::OmplRosRPYIKStateTransformer.

Get a default physical state.

Implements ompl_ros_interface::OmplRosStateTransformer.

Implemented in ompl_ros_interface::OmplRosRPYIKStateTransformer.

virtual std::string ompl_ros_interface::OmplRosIKStateTransformer::getFrame ( ) [inline, virtual]

Get the frame in which the kinematics solver is operating.

Reimplemented from ompl_ros_interface::OmplRosStateTransformer.

Definition at line 92 of file ompl_ros_ik_state_transformer.h.

Custom initialization can be performed here.

Implements ompl_ros_interface::OmplRosStateTransformer.

Implemented in ompl_ros_interface::OmplRosRPYIKStateTransformer.

virtual bool ompl_ros_interface::OmplRosIKStateTransformer::inverseTransform ( const ompl::base::State &  ompl_state,
arm_navigation_msgs::RobotState robot_state 
) [pure virtual]

Compute the inverse transform (from planning state to physical state)

Parameters:
ompl_state- the planning state
robot_State- the corresponding physical state

Implements ompl_ros_interface::OmplRosStateTransformer.

Implemented in ompl_ros_interface::OmplRosRPYIKStateTransformer.


Member Data Documentation

Definition at line 109 of file ompl_ros_ik_state_transformer.h.

Definition at line 111 of file ompl_ros_ik_state_transformer.h.

Definition at line 106 of file ompl_ros_ik_state_transformer.h.

Definition at line 110 of file ompl_ros_ik_state_transformer.h.


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


ompl_ros_interface
Author(s): Sachin Chitta
autogenerated on Thu Dec 12 2013 11:10:59