ompl_ros_interface Namespace Reference

Classes
class	KinematicStateToOmplStateMapping
class	OmplRos
	Initializes a bunch of planners for different groups (collections of joints and links, e.g. a robot arm). This class gets all its parameters from the ROS parameter server. After initializing, just call run on the class to start it running. More...
class	OmplRosIKSampleableRegion
	Inherits from ompl::base::GoalSampleableRegion and can be used to sample goals using IK. More...
class	OmplRosIKSampler
class	OmplRosIKStateTransformer
	A state trasformer that uses forward and inverse kinematics to convert to and from ompl and physical robot states. More...
class	OmplRosJointPlanner
	A joint planner - this is the planner that most applications will use. More...
class	OmplRosJointStateValidityChecker
	This class implements a state validity checker in joint space. More...
class	OmplRosPlanningGroup
	An instantiation of a particular planner for a specific group. More...
class	OmplRosProjectionEvaluator
	A projection evaluator specifically designed for the ROS interface to OMPL while using a compound state space. More...
class	OmplRosRPYIKStateTransformer
class	OmplRosRPYIKTaskSpacePlanner
class	OmplRosStateTransformer
class	OmplRosStateValidityChecker
	A ROS wrapper around a ompl::base::StateValidityChecker object. More...
class	OmplRosTaskSpacePlanner
	A generic task space planner. More...
class	OmplRosTaskSpaceValidityChecker
	This class implements a state validity checker in task space. More...
class	OmplStateToKinematicStateMapping
class	OmplStateToRobotStateMapping
class	PlannerConfig
	A class to define a planner configuration. More...
class	PlannerConfigMap
	A map from group name to planner configuration names. This class is used internally and is not intended for external use. More...
class	RobotStateToKinematicStateMapping
class	RobotStateToOmplStateMapping
Typedefs
typedef boost::shared_ptr < ompl_ros_interface::OmplRosStateValidityChecker >	OmplRosStateValidityCheckerPtr
Enumerations
enum	MAPPING_TYPE {   REAL_VECTOR, SO2, SO3, SE2,   SE3, COMPOUND, UNKNOWN }
	enumeration of different mapping types for ompl More...
Functions
bool	addToOmplStateSpace (const planning_models::KinematicModel *kinematic_model, const std::string &joint_name, ompl::base::StateSpacePtr &ompl_state_space)
	Add a state to the ompl state space.
bool	constraintsToOmplState (const arm_navigation_msgs::Constraints &constraints, ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_scoped_state, const bool &fail_if_match_not_found=true)
	Convert a set of constraints to an ompl scoped state.
bool	getJointStateGroupToOmplStateMapping (planning_models::KinematicState::JointStateGroup *joint_state_group, const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_state, ompl_ros_interface::KinematicStateToOmplStateMapping &mapping)
	Create a mapping from the kinematic state to an ompl state.
bool	getJointStateToOmplStateMapping (const sensor_msgs::JointState &joint_state, const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_state, ompl_ros_interface::RobotStateToOmplStateMapping &mapping, const bool &fail_if_match_not_found=true)
	Create a mapping from the ROS message joint_state to an ompl state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.
ompl_ros_interface::MAPPING_TYPE	getMappingType (const planning_models::KinematicModel::JointModel *joint_model)
ompl_ros_interface::MAPPING_TYPE	getMappingType (const ompl::base::StateSpace *state_space)
ompl_ros_interface::MAPPING_TYPE	getMappingType (const ompl::base::StateSpacePtr &state_space)
bool	getOmplStateToJointStateGroupMapping (const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_state, planning_models::KinematicState::JointStateGroup *joint_state_group, ompl_ros_interface::OmplStateToKinematicStateMapping &mapping)
	Create a mapping from the ompl state to a kinematic state.
bool	getOmplStateToJointStateMapping (const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_state, const sensor_msgs::JointState &joint_state, ompl_ros_interface::OmplStateToRobotStateMapping &mapping, const bool &fail_if_match_not_found=true)
	Create a mapping from an ompl state to the ROS message robot_state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.
bool	getOmplStateToJointTrajectoryMapping (const ompl::base::StateSpacePtr &state_space, const trajectory_msgs::JointTrajectory &joint_trajectory, ompl_ros_interface::OmplStateToRobotStateMapping &mapping)
	Get the mapping from an ompl state space to a JointTrajectory message.
bool	getOmplStateToRobotStateMapping (const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_state, const arm_navigation_msgs::RobotState &robot_state, ompl_ros_interface::OmplStateToRobotStateMapping &mapping, const bool &fail_if_match_not_found=true)
	Create a mapping from an ompl state to the ROS message robot_state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.
bool	getOmplStateToRobotTrajectoryMapping (const ompl::base::StateSpacePtr &state_space, const arm_navigation_msgs::RobotTrajectory &robot_trajectory, ompl_ros_interface::OmplStateToRobotStateMapping &mapping)
	Get the mapping from an ompl state space to a RobotTrajectory message.
bool	getRobotStateToJointModelGroupMapping (const arm_navigation_msgs::RobotState &robot_state, const planning_models::KinematicModel::JointModelGroup *joint_model_group, ompl_ros_interface::RobotStateToKinematicStateMapping &mapping)
	Get the mapping from a RobotState message to a JointModelGroup.
bool	getRobotStateToOmplStateMapping (const arm_navigation_msgs::RobotState &robot_state, const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_state, ompl_ros_interface::RobotStateToOmplStateMapping &mapping, const bool &fail_if_match_not_found=true)
	Create a mapping from the ROS message robot_state to an ompl state. This function is intended to help in efficient conversion between ROS messages and an ompl state object by providing a mapping that can be cached and used frequently.
bool	jointConstraintsToOmplState (const std::vector< arm_navigation_msgs::JointConstraint > &joint_constraints, ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_scoped_state)
	Convert a set of joint constraints to an ompl scoped state.
ompl::base::StateSpacePtr	jointGroupToOmplStateSpacePtr (const planning_models::KinematicModel::JointModelGroup *joint_group, ompl_ros_interface::OmplStateToKinematicStateMapping &ompl_kinematic_mapping, ompl_ros_interface::KinematicStateToOmplStateMapping &kinematic_ompl_mapping)
	create a object of type ompl::base::CompoundStateSpace from an object of type planning_models::KinematicModel::JointGroup
bool	jointStateGroupToRobotTrajectory (planning_models::KinematicState::JointStateGroup *joint_state_group, arm_navigation_msgs::RobotTrajectory &robot_trajectory)
	Create a RobotTrajectory message from a joint state group.
bool	jointStateToRealVectorState (const sensor_msgs::JointState &joint_state, const ompl_ros_interface::RobotStateToOmplStateMapping &mapping, ompl::base::RealVectorStateSpace::StateType &real_vector_state, const bool &fail_if_match_not_found=true)
	Convert a ROS message joint state to an ompl real vector state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.
bool	kinematicStateGroupToOmplState (const planning_models::KinematicState::JointStateGroup *joint_state_group, const ompl_ros_interface::KinematicStateToOmplStateMapping &mapping, ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_state)
	Convert a kinematic state to an ompl scoped state given the appropriate mapping.
bool	omplPathGeometricToRobotTrajectory (const ompl::geometric::PathGeometric &path, const ompl::base::StateSpacePtr &state_space, arm_navigation_msgs::RobotTrajectory &robot_trajectory)
	Convert an ompl path to a RobotTrajectory message.
bool	omplPathGeometricToRobotTrajectory (const ompl::geometric::PathGeometric &path, const ompl_ros_interface::OmplStateToRobotStateMapping &mapping, arm_navigation_msgs::RobotTrajectory &robot_trajectory)
	Convert an ompl path to a RobotTrajectory message.
bool	omplRealVectorStateToJointState (const ompl::base::RealVectorStateSpace::StateType &ompl_state, const ompl_ros_interface::OmplStateToRobotStateMapping &mapping, sensor_msgs::JointState &joint_state)
	Convert an ompl state to the ROS message joint_state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.
bool	omplStateToKinematicStateGroup (const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_state, const ompl_ros_interface::OmplStateToKinematicStateMapping &mapping, planning_models::KinematicState::JointStateGroup *joint_state_group)
	Convert an ompl scoped state to a kinematic state given the appropriate mapping.
bool	omplStateToKinematicStateGroup (const ompl::base::State *ompl_state, const ompl_ros_interface::OmplStateToKinematicStateMapping &mapping, planning_models::KinematicState::JointStateGroup *joint_state_group)
	Convert an ompl state to a kinematic state given the appropriate mapping.
bool	omplStateToRobotState (const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_state, const ompl_ros_interface::OmplStateToRobotStateMapping &mapping, arm_navigation_msgs::RobotState &robot_state)
	Convert an ompl state to the ROS message robot_state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.
bool	omplStateToRobotState (const ompl::base::State &ompl_state, const ompl_ros_interface::OmplStateToRobotStateMapping &mapping, arm_navigation_msgs::RobotState &robot_state)
	Convert an ompl state to the ROS message robot_state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.
void	poseMsgToSE3StateSpace (const geometry_msgs::Pose &pose_msg, ompl::base::SE3StateSpace::StateType &pose)
	Convert a pose message to a SE3StateSpace::StateType.
void	quaternionMsgToSO3StateSpace (const geometry_msgs::Quaternion &quaternion_msg, ompl::base::SO3StateSpace::StateType &quaternion)
	Convert a quaternion message to a SO3StateSpace::StateType.
bool	robotStateToJointStateGroup (const arm_navigation_msgs::RobotState &robot_state, const ompl_ros_interface::RobotStateToKinematicStateMapping &robot_state_to_joint_state_group_mapping, planning_models::KinematicState::JointStateGroup *joint_state_group)
	Convert from a RobotState to a JointStateGroup.
bool	robotStateToOmplState (const arm_navigation_msgs::RobotState &robot_state, const ompl_ros_interface::RobotStateToOmplStateMapping &mapping, ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_state, const bool &fail_if_match_not_found=true)
	Convert a ROS message robot state to an ompl state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.
bool	robotStateToOmplState (const arm_navigation_msgs::RobotState &robot_state, const ompl_ros_interface::RobotStateToOmplStateMapping &mapping, ompl::base::State *ompl_state, const bool &fail_if_match_not_found=true)
	Convert a ROS message robot state to an ompl state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.
bool	robotStateToOmplState (const arm_navigation_msgs::RobotState &robot_state, ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_scoped_state, const bool &fail_if_match_not_found=true)
	Convert a ROS message robot state to an ompl state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.
void	SE2StateSpaceToPoseMsg (const ompl::base::SE2StateSpace::StateType &pose, geometry_msgs::Pose &pose_msg)
	Convert a SE2StateSpace::StateType to a pose message.
void	SE3StateSpaceToPoseMsg (const ompl::base::SE3StateSpace::StateType &pose, geometry_msgs::Pose &pose_msg)
	Convert a SE3StateSpace::StateType to a pose message.
void	SO3StateSpaceToPoseMsg (const ompl::base::SO3StateSpace::StateType &quaternion, geometry_msgs::Pose &pose_msg)
	Convert a SO3StateSpace::StateType to a pose message.
void	SO3StateSpaceToQuaternionMsg (const ompl::base::SO3StateSpace::StateType &quaternion, geometry_msgs::Quaternion &quaternion_msg)
	Convert a SO3StateSpace::StateType to a quaternion message.

---

Detailed Description

Author:

Sachin Chitta, Ioan Sucan

Sachin Chitta

E.Gil Jones

---

Typedef Documentation

typedef boost::shared_ptr<ompl_ros_interface::OmplRosStateValidityChecker> ompl_ros_interface::OmplRosStateValidityCheckerPtr

Definition at line 115 of file ompl_ros_state_validity_checker.h.

---

Enumeration Type Documentation

enum ompl_ros_interface::MAPPING_TYPE

enumeration of different mapping types for ompl

Enumerator:

REAL_VECTOR
SO2
SO3
SE2
SE3
COMPOUND
UNKNOWN

Definition at line 68 of file ompl_ros_conversions.h.

---

Function Documentation

bool ompl_ros_interface::addToOmplStateSpace	(	const planning_models::KinematicModel *	kinematic_model,
		const std::string &	joint_name,
		ompl::base::StateSpacePtr &	ompl_state_space
	)

Add a state to the ompl state space.

Parameters:

kinematic_model	- the kinematic model to use for getting properties of the particular joint
joint_name	- The joint name to add
ompl_state_space	- The state space to add joints to

Returns:

false if any error occured

Definition at line 141 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::constraintsToOmplState	(	const arm_navigation_msgs::Constraints &	constraints,
		ompl::base::ScopedState< ompl::base::CompoundStateSpace > &	ompl_scoped_state,
		const bool &	fail_if_match_not_found = true
	)

Convert a set of constraints to an ompl scoped state.

Parameters:

constraints	The input joint constraints
ompl_scoped_state	The output scoped state
fail_if_match_not_found	- if true, fail if no matching joint was found for any of the joints specified in the constraints

Returns:

false if any error occured

Definition at line 1123 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::getJointStateGroupToOmplStateMapping	(	planning_models::KinematicState::JointStateGroup *	joint_state_group,
		const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &	ompl_state,
		ompl_ros_interface::KinematicStateToOmplStateMapping &	mapping
	)

Create a mapping from the kinematic state to an ompl state.

Parameters:

kinematic_state	The kinematic state to create the mapping from
ompl_state	The ompl state to create the mapping to
mapping	The resultant mapping

Definition at line 269 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::getJointStateToOmplStateMapping	(	const sensor_msgs::JointState &	joint_state,
		const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &	ompl_state,
		ompl_ros_interface::RobotStateToOmplStateMapping &	mapping,
		const bool &	fail_if_match_not_found = true
	)

Create a mapping from the ROS message joint_state to an ompl state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.

Parameters:

robot_state	The joint state message to create the mapping from
ompl_state	The ompl state to create the mapping to
mapping	The resultant mapping

Definition at line 428 of file ompl_ros_conversions.cpp.

ompl_ros_interface::MAPPING_TYPE ompl_ros_interface::getMappingType

(

const planning_models::KinematicModel::JointModel *

joint_model

)

Definition at line 211 of file ompl_ros_conversions.cpp.

ompl_ros_interface::MAPPING_TYPE ompl_ros_interface::getMappingType

(

const ompl::base::StateSpace *

state_space

)

Definition at line 233 of file ompl_ros_conversions.cpp.

ompl_ros_interface::MAPPING_TYPE ompl_ros_interface::getMappingType

(

const ompl::base::StateSpacePtr &

state_space

)

Definition at line 263 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::getOmplStateToJointStateGroupMapping	(	const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &	ompl_state,
		planning_models::KinematicState::JointStateGroup *	joint_state_group,
		ompl_ros_interface::OmplStateToKinematicStateMapping &	mapping
	)

Create a mapping from the ompl state to a kinematic state.

Parameters:

ompl_state	The ompl state to create the mapping from
joint_state_group	The kinematic state to create the mapping to
mapping	The resultant mapping

Definition at line 333 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::getOmplStateToJointStateMapping	(	const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &	ompl_state,
		const sensor_msgs::JointState &	joint_state,
		ompl_ros_interface::OmplStateToRobotStateMapping &	mapping,
		const bool &	fail_if_match_not_found = true
	)

Create a mapping from an ompl state to the ROS message robot_state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.

Parameters:

ompl_state	The ompl state to create the mapping from
joint_state	The joint state message to create the mapping to
mapping	The resultant mapping

Definition at line 480 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::getOmplStateToJointTrajectoryMapping	(	const ompl::base::StateSpacePtr &	state_space,
		const trajectory_msgs::JointTrajectory &	joint_trajectory,
		ompl_ros_interface::OmplStateToRobotStateMapping &	mapping
	)

Get the mapping from an ompl state space to a JointTrajectory message.

Parameters:

state_space	The state space
joint_trajectory	The JointTrajectory message to find the mapping for
mapping	The mapping from the state_space to the robot trajectory

Returns:

false if any error occured

Definition at line 1031 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::getOmplStateToRobotStateMapping	(	const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &	ompl_state,
		const arm_navigation_msgs::RobotState &	robot_state,
		ompl_ros_interface::OmplStateToRobotStateMapping &	mapping,
		const bool &	fail_if_match_not_found = true
	)

Create a mapping from an ompl state to the ROS message robot_state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.

Parameters:

ompl_state	The ompl state to create the mapping from
robot_state	The joint state message to create the mapping to
mapping	The resultant mapping

Definition at line 549 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::getOmplStateToRobotTrajectoryMapping	(	const ompl::base::StateSpacePtr &	state_space,
		const arm_navigation_msgs::RobotTrajectory &	robot_trajectory,
		ompl_ros_interface::OmplStateToRobotStateMapping &	mapping
	)

Get the mapping from an ompl state space to a RobotTrajectory message.

Parameters:

state_space	The state space
robot_trajectory	The RobotTrajectory message to find the mapping for
mapping	The mapping from the state_space to the robot trajectory

Returns:

false if any error occured

Definition at line 997 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::getRobotStateToJointModelGroupMapping	(	const arm_navigation_msgs::RobotState &	robot_state,
		const planning_models::KinematicModel::JointModelGroup *	joint_model_group,
		ompl_ros_interface::RobotStateToKinematicStateMapping &	mapping
	)

Get the mapping from a RobotState message to a JointModelGroup.

Parameters:

robot_state	- The input RobotState
joint_model_group	- The resultant joint model group
mapping	- The mapping from the robot state to the joint model

Returns:

false if any error occured

Definition at line 1142 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::getRobotStateToOmplStateMapping	(	const arm_navigation_msgs::RobotState &	robot_state,
		const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &	ompl_state,
		ompl_ros_interface::RobotStateToOmplStateMapping &	mapping,
		const bool &	fail_if_match_not_found = true
	)

Create a mapping from the ROS message robot_state to an ompl state. This function is intended to help in efficient conversion between ROS messages and an ompl state object by providing a mapping that can be cached and used frequently.

Parameters:

robot_state	The robot state to create the mapping from
ompl_state	The ompl state to create the mapping to
mapping	The resultant mapping

Definition at line 392 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::jointConstraintsToOmplState	(	const std::vector< arm_navigation_msgs::JointConstraint > &	joint_constraints,
		ompl::base::ScopedState< ompl::base::CompoundStateSpace > &	ompl_scoped_state
	)

Convert a set of joint constraints to an ompl scoped state.

Parameters:

joint_constraints	The input joint constraints
ompl_scoped_state	The output scoped state

Returns:

false if any error occured

Definition at line 1106 of file ompl_ros_conversions.cpp.

ompl::base::StateSpacePtr ompl_ros_interface::jointGroupToOmplStateSpacePtr	(	const planning_models::KinematicModel::JointModelGroup *	joint_group,
		ompl_ros_interface::OmplStateToKinematicStateMapping &	ompl_kinematic_mapping,
		ompl_ros_interface::KinematicStateToOmplStateMapping &	kinematic_ompl_mapping
	)

create a object of type ompl::base::CompoundStateSpace from an object of type planning_models::KinematicModel::JointGroup

Parameters:

joint_group	The joint group to construct this from
state_space	The output state space
ompl_kinematic_mapping	Mapping from the ompl state to the corresponding kinematic state
kinematic_ompl_mapping	Mapping from the kinematic state to the corresponding ompl state

Definition at line 41 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::jointStateGroupToRobotTrajectory	(	planning_models::KinematicState::JointStateGroup *	joint_state_group,
		arm_navigation_msgs::RobotTrajectory &	robot_trajectory
	)

Create a RobotTrajectory message from a joint state group.

Create a robot trajectory message for a joint state group.

Parameters:

joint_state_group	The kinematic state to convert from
robot_trajectory	The robot trajectory that was created

Returns:

false if any error occured

Parameters:

joint_state_group	The input group
robot_trajectory	The output robot trajectory

Definition at line 892 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::jointStateToRealVectorState	(	const sensor_msgs::JointState &	joint_state,
		const ompl_ros_interface::RobotStateToOmplStateMapping &	mapping,
		ompl::base::RealVectorStateSpace::StateType &	real_vector_state,
		const bool &	fail_if_match_not_found = true
	)

Convert a ROS message joint state to an ompl real vector state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.

Parameters:

joint_state	The joint state message to create the mapping to
real_vector_state	The ompl state to create the mapping from
mapping	The mapping to use for this conversion

Definition at line 657 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::kinematicStateGroupToOmplState	(	const planning_models::KinematicState::JointStateGroup *	joint_state_group,
		const ompl_ros_interface::KinematicStateToOmplStateMapping &	mapping,
		ompl::base::ScopedState< ompl::base::CompoundStateSpace > &	ompl_scoped_state
	)

Convert a kinematic state to an ompl scoped state given the appropriate mapping.

Convert a kinematic state to an ompl state given the appropriate mapping.

Parameters:

joint_state_group	The kinematic state to convert from
mapping	The given mapping
ompl_state	The ompl scoped state to convert to
joint_state_group	The kinematic state to convert from
mapping	The given mapping
ompl_scoped_state	The ompl state to convert to

Definition at line 731 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::omplPathGeometricToRobotTrajectory	(	const ompl::geometric::PathGeometric &	path,
		const ompl::base::StateSpacePtr &	state_space,
		arm_navigation_msgs::RobotTrajectory &	robot_trajectory
	)

Convert an ompl path to a RobotTrajectory message.

Parameters:

path	The ompl path
state_space	The state space corresponding to the path
robot_trajectory	The RobotTrajectory message to convert the path to

Returns:

false if any error occured

Definition at line 922 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::omplPathGeometricToRobotTrajectory	(	const ompl::geometric::PathGeometric &	path,
		const ompl_ros_interface::OmplStateToRobotStateMapping &	mapping,
		arm_navigation_msgs::RobotTrajectory &	robot_trajectory
	)

Convert an ompl path to a RobotTrajectory message.

Parameters:

path	The ompl path
mapping	The mapping from the path to the robot trajectory
robot_trajectory	The RobotTrajectory message to convert the path to

Returns:

false if any error occured

Definition at line 939 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::omplRealVectorStateToJointState	(	const ompl::base::RealVectorStateSpace::StateType &	ompl_state,
		const ompl_ros_interface::OmplStateToRobotStateMapping &	mapping,
		sensor_msgs::JointState &	joint_state
	)

Convert an ompl state to the ROS message joint_state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.

Parameters:

ompl_state	The ompl state to create the mapping from
mapping	The mapping to use for this conversion
joint_state	The joint state message to create the mapping to

Definition at line 599 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::omplStateToKinematicStateGroup	(	const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &	ompl_scoped_state,
		const ompl_ros_interface::OmplStateToKinematicStateMapping &	mapping,
		planning_models::KinematicState::JointStateGroup *	joint_state_group
	)

Convert an ompl scoped state to a kinematic state given the appropriate mapping.

Convert an ompl state to a kinematic state given the appropriate mapping.

Parameters:

ompl_state	The ompl scoped state to convert from
mapping	The given mapping
joint_state_group	The kinematic state to convert to
ompl_scoped_state	The ompl state to convert to
mapping	The given mapping
joint_state_group	The kinematic state to convert from

Definition at line 780 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::omplStateToKinematicStateGroup	(	const ompl::base::State *	ompl_state,
		const ompl_ros_interface::OmplStateToKinematicStateMapping &	mapping,
		planning_models::KinematicState::JointStateGroup *	joint_state_group
	)

Convert an ompl state to a kinematic state given the appropriate mapping.

Parameters:

ompl_state	The ompl state to convert to
mapping	The given mapping
joint_state_group	The kinematic state to convert from

Definition at line 837 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::omplStateToRobotState	(	const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &	ompl_state,
		const ompl_ros_interface::OmplStateToRobotStateMapping &	mapping,
		arm_navigation_msgs::RobotState &	robot_state
	)

Convert an ompl state to the ROS message robot_state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.

Parameters:

ompl_state	The ompl state to create the mapping from
mapping	The mapping to use for this conversion
robot_state	The robot state message to create the mapping to

Definition at line 579 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::omplStateToRobotState	(	const ompl::base::State &	ompl_state,
		const ompl_ros_interface::OmplStateToRobotStateMapping &	mapping,
		arm_navigation_msgs::RobotState &	robot_state
	)

Convert an ompl state to the ROS message robot_state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.

Parameters:

ompl_state	The ompl state to create the mapping from
mapping	The mapping to use for this conversion
robot_state	The robot state message to create the mapping to

void ompl_ros_interface::poseMsgToSE3StateSpace	(	const geometry_msgs::Pose &	pose_msg,
		ompl::base::SE3StateSpace::StateType &	pose
	)

Convert a pose message to a SE3StateSpace::StateType.

Parameters:

pose_msg	- the input pose message
pose	- the resultant object of type SE3StateSpace::StateType

Definition at line 707 of file ompl_ros_conversions.cpp.

void ompl_ros_interface::quaternionMsgToSO3StateSpace	(	const geometry_msgs::Quaternion &	quaternion_msg,
		ompl::base::SO3StateSpace::StateType &	quaternion
	)

Convert a quaternion message to a SO3StateSpace::StateType.

Parameters:

pose_msg	- the resultant quaternion message
pose	- an object of type SO3StateSpace::StateType

Definition at line 716 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::robotStateToJointStateGroup	(	const arm_navigation_msgs::RobotState &	robot_state,
		const ompl_ros_interface::RobotStateToKinematicStateMapping &	robot_state_to_joint_state_group_mapping,
		planning_models::KinematicState::JointStateGroup *	joint_state_group
	)

Convert from a RobotState to a JointStateGroup.

Parameters:

robot_state	- The input RobotState
robot_state_to_joint_state_group_mapping	- The mapping from the robot state to the joint state group
joint_state_group	- The resultant joint state group

Returns:

false if any error occured

Definition at line 1185 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::robotStateToOmplState	(	const arm_navigation_msgs::RobotState &	robot_state,
		const ompl_ros_interface::RobotStateToOmplStateMapping &	mapping,
		ompl::base::ScopedState< ompl::base::CompoundStateSpace > &	ompl_state,
		const bool &	fail_if_match_not_found = true
	)

Convert a ROS message robot state to an ompl state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.

Parameters:

robot_state	The robot state message to create the mapping to
mapping	The mapping to use for this conversion
ompl_state	The ompl state to create the mapping from

Definition at line 610 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::robotStateToOmplState	(	const arm_navigation_msgs::RobotState &	robot_state,
		const ompl_ros_interface::RobotStateToOmplStateMapping &	mapping,
		ompl::base::State *	ompl_state,
		const bool &	fail_if_match_not_found = true
	)

Convert a ROS message robot state to an ompl state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.

Parameters:

robot_state	The robot state message to create the mapping to
mapping	The mapping to use for this conversion
ompl_state	The ompl state to create the mapping from

Definition at line 618 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::robotStateToOmplState	(	const arm_navigation_msgs::RobotState &	robot_state,
		ompl::base::ScopedState< ompl::base::CompoundStateSpace > &	ompl_scoped_state,
		const bool &	fail_if_match_not_found = true
	)

Convert a ROS message robot state to an ompl state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.

Parameters:

robot_state	The robot state message to create the mapping to
ompl_state	The ompl state to create the mapping from

Definition at line 647 of file ompl_ros_conversions.cpp.

void ompl_ros_interface::SE2StateSpaceToPoseMsg	(	const ompl::base::SE2StateSpace::StateType &	pose,
		geometry_msgs::Pose &	pose_msg
	)

Convert a SE2StateSpace::StateType to a pose message.

Parameters:

pose	- an object of type SE2StateSpace::StateType
pose_msg	- the resultant pose message

Definition at line 689 of file ompl_ros_conversions.cpp.

void ompl_ros_interface::SE3StateSpaceToPoseMsg	(	const ompl::base::SE3StateSpace::StateType &	pose,
		geometry_msgs::Pose &	pose_msg
	)

Convert a SE3StateSpace::StateType to a pose message.

Parameters:

pose	- an object of type SE3StateSpace::StateType
pose_msg	- the resultant pose message

Definition at line 668 of file ompl_ros_conversions.cpp.

void ompl_ros_interface::SO3StateSpaceToPoseMsg	(	const ompl::base::SO3StateSpace::StateType &	quaternion,
		geometry_msgs::Pose &	pose_msg
	)

Convert a SO3StateSpace::StateType to a pose message.

Parameters:

pose	- an object of type SO3StateSpace::StateType
pose_msg	- the resultant pose message

Definition at line 683 of file ompl_ros_conversions.cpp.

void ompl_ros_interface::SO3StateSpaceToQuaternionMsg	(	const ompl::base::SO3StateSpace::StateType &	quaternion,
		geometry_msgs::Quaternion &	quaternion_msg
	)

Convert a SO3StateSpace::StateType to a quaternion message.

Parameters:

pose	- an object of type SO3StateSpace::StateType
quaternion_msg	- the resultant quaternion message

Definition at line 698 of file ompl_ros_conversions.cpp.