#include <ompl_ros_rpy_ik_task_space_planner.h>
Protected Member Functions | |
| virtual bool | constraintsToOmplState (const arm_navigation_msgs::Constraints &constraints, ompl::base::ScopedState< ompl::base::CompoundStateSpace > &goal) |
| virtual arm_navigation_msgs::RobotTrajectory | getSolutionPath () |
| Returns the solution path. | |
| virtual bool | initializeStateValidityChecker (ompl_ros_interface::OmplRosStateValidityCheckerPtr &state_validity_checker) |
| Initialize the state validity checker. | |
Private Member Functions | |
| bool | checkAndCorrectForWrapAround (double &value, const double &min_v, const double &max_v) |
| bool | getEndEffectorConstraints (const arm_navigation_msgs::Constraints &constraints, arm_navigation_msgs::PositionConstraint &position_constraint, arm_navigation_msgs::OrientationConstraint &orientation_constraint, const bool &need_both_constraints) |
| geometry_msgs::PoseStamped | getEndEffectorPose (const arm_navigation_msgs::RobotState &robot_state) |
| bool | orientationConstraintToOmplStateBounds (const arm_navigation_msgs::OrientationConstraint &orientation_constraint, ompl::base::StateSpacePtr &goal) |
| bool | poseStampedToOmplState (const geometry_msgs::PoseStamped &pose_stamped, ompl::base::ScopedState< ompl::base::CompoundStateSpace > &goal, const bool &return_if_outside_constraints=true) |
| bool | positionConstraintToOmplStateBounds (const arm_navigation_msgs::PositionConstraint &position_constraint, ompl::base::StateSpacePtr &goal) |
| virtual bool | setStart (arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response) |
| Set the start state(s) | |
Private Attributes | |
| std::string | end_effector_name_ |
| boost::shared_ptr < ompl::base::RealVectorBounds > | original_real_vector_bounds_ |
Detailed Description
Definition at line 49 of file ompl_ros_rpy_ik_task_space_planner.h.
Member Function Documentation
| bool ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::checkAndCorrectForWrapAround | ( | double & | value, |
| const double & | min_v, | ||
| const double & | max_v | ||
| ) | [private] |
Definition at line 403 of file ompl_ros_rpy_ik_task_space_planner.cpp.
| bool ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::constraintsToOmplState | ( | const arm_navigation_msgs::Constraints & | constraints, |
| ompl::base::ScopedState< ompl::base::CompoundStateSpace > & | goal | ||
| ) | [protected, virtual] |
Reimplemented from ompl_ros_interface::OmplRosTaskSpacePlanner.
Definition at line 178 of file ompl_ros_rpy_ik_task_space_planner.cpp.
| bool ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::getEndEffectorConstraints | ( | const arm_navigation_msgs::Constraints & | constraints, |
| arm_navigation_msgs::PositionConstraint & | position_constraint, | ||
| arm_navigation_msgs::OrientationConstraint & | orientation_constraint, | ||
| const bool & | need_both_constraints | ||
| ) | [private] |
Definition at line 305 of file ompl_ros_rpy_ik_task_space_planner.cpp.
| geometry_msgs::PoseStamped ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::getEndEffectorPose | ( | const arm_navigation_msgs::RobotState & | robot_state | ) | [private] |
Definition at line 424 of file ompl_ros_rpy_ik_task_space_planner.cpp.
| arm_navigation_msgs::RobotTrajectory ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::getSolutionPath | ( | ) | [protected, virtual] |
Returns the solution path.
Implements ompl_ros_interface::OmplRosTaskSpacePlanner.
Definition at line 64 of file ompl_ros_rpy_ik_task_space_planner.cpp.
| bool ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::initializeStateValidityChecker | ( | ompl_ros_interface::OmplRosStateValidityCheckerPtr & | state_validity_checker | ) | [protected, virtual] |
Initialize the state validity checker.
Reimplemented from ompl_ros_interface::OmplRosTaskSpacePlanner.
Definition at line 42 of file ompl_ros_rpy_ik_task_space_planner.cpp.
| bool ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::orientationConstraintToOmplStateBounds | ( | const arm_navigation_msgs::OrientationConstraint & | orientation_constraint, |
| ompl::base::StateSpacePtr & | goal | ||
| ) | [private] |
Definition at line 247 of file ompl_ros_rpy_ik_task_space_planner.cpp.
| bool ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::poseStampedToOmplState | ( | const geometry_msgs::PoseStamped & | pose_stamped, |
| ompl::base::ScopedState< ompl::base::CompoundStateSpace > & | goal, | ||
| const bool & | return_if_outside_constraints = true |
||
| ) | [private] |
Definition at line 340 of file ompl_ros_rpy_ik_task_space_planner.cpp.
| bool ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::positionConstraintToOmplStateBounds | ( | const arm_navigation_msgs::PositionConstraint & | position_constraint, |
| ompl::base::StateSpacePtr & | goal | ||
| ) | [private] |
Definition at line 226 of file ompl_ros_rpy_ik_task_space_planner.cpp.
| bool ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::setStart | ( | arm_navigation_msgs::GetMotionPlan::Request & | request, |
| arm_navigation_msgs::GetMotionPlan::Response & | response | ||
| ) | [private, virtual] |
Set the start state(s)
Reimplemented from ompl_ros_interface::OmplRosTaskSpacePlanner.
Definition at line 110 of file ompl_ros_rpy_ik_task_space_planner.cpp.
Member Data Documentation
std::string ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::end_effector_name_ [private] |
Reimplemented from ompl_ros_interface::OmplRosTaskSpacePlanner.
Definition at line 87 of file ompl_ros_rpy_ik_task_space_planner.h.
boost::shared_ptr<ompl::base::RealVectorBounds> ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::original_real_vector_bounds_ [private] |
Definition at line 74 of file ompl_ros_rpy_ik_task_space_planner.h.
The documentation for this class was generated from the following files: