Functions
descartes_moveit::seed Namespace Reference

Functions

std::vector< std::vector
< double > > 
findIndustrialSixDOFSeeds (moveit::core::RobotState &state, const std::string &group_name, const std::string &tool_frame)
 findIndustrialSixDOFSeeds() is a specialization of findSeedStatesByPairs() that searches for seed states over joints 2,3 and 4,6 (1 indexed). These joints often form elbow and wrist configurations.
std::vector< std::vector
< double > > 
findRandomSeeds (moveit::core::RobotState &state, const std::string &group_name, unsigned n)
 Uses moveit's underlying random function to find n random joint configurations that satisfy model bounds.
std::vector< std::vector
< double > > 
findSeedStatesByPairs (moveit::core::RobotState &state, const std::string &group_name, const std::string &tool_frame, const std::vector< std::pair< unsigned, unsigned > > &pairs)
 Returns a sequence of seed states for iterative inverse kinematic solvers to use when 'sampling' the solution space of a pose. These seeds are generated by iterating through all possible joint permutations of each pair of joints passed in by the user.

Function Documentation

std::vector<std::vector<double> > descartes_moveit::seed::findIndustrialSixDOFSeeds ( moveit::core::RobotState state,
const std::string &  group_name,
const std::string &  tool_frame 
) [inline]

findIndustrialSixDOFSeeds() is a specialization of findSeedStatesByPairs() that searches for seed states over joints 2,3 and 4,6 (1 indexed). These joints often form elbow and wrist configurations.

Definition at line 69 of file seed_search.h.

JointConfigVec descartes_moveit::seed::findRandomSeeds ( moveit::core::RobotState state,
const std::string &  group_name,
unsigned  n 
)

Uses moveit's underlying random function to find n random joint configurations that satisfy model bounds.

Parameters:
stateShared pointer to robot state used to perform FK/IK
group_nameName of the move group for which to generate seeds
nNumber of random seeds to create
Returns:
n random valid positions of 'group_name' in moveit config defined by state

Definition at line 266 of file seed_search.cpp.

std::vector<std::vector<double> > descartes_moveit::seed::findSeedStatesByPairs ( moveit::core::RobotState state,
const std::string &  group_name,
const std::string &  tool_frame,
const std::vector< std::pair< unsigned, unsigned > > &  pairs 
)

Returns a sequence of seed states for iterative inverse kinematic solvers to use when 'sampling' the solution space of a pose. These seeds are generated by iterating through all possible joint permutations of each pair of joints passed in by the user.

Parameters:
stateShared pointer to robot state used to perform FK/IK
group_nameName of the move group for which to generate seeds
tool_frameThe name of the tool link in which to work with FK/IK
pairsA sequence of joint pairs used to generate the seed states.
Returns:
A vector of seed states


descartes_moveit
Author(s): Shaun Edwards
autogenerated on Wed Aug 26 2015 11:21:41