Typedefs | Functions
seed_search.cpp File Reference
#include <descartes_moveit/seed_search.h>
#include <ros/ros.h>
Include dependency graph for seed_search.cpp:

Go to the source code of this file.

Typedefs

typedef std::vector< unsigned > BijectionVec
typedef std::vector< double > JointConfig
typedef std::vector< JointConfigJointConfigVec
typedef std::pair< unsigned,
unsigned > 
JointPair
typedef std::vector< JointPairJointPairVec

Functions

std::vector< double > createSeedFromPerms (const std::vector< double > &initial, const std::vector< double > &a_perms, unsigned a_joint_idx, const std::vector< double > &b_perms, unsigned b_joint_idx, unsigned n)
std::vector< double > createValidJointPositions (const moveit::core::JointModel &model, double increment)
bool doFK (moveit::core::RobotState &state, const moveit::core::JointModelGroup *group, const std::string &tool, const JointConfig &joint_pose, Eigen::Affine3d &result)
 Forward kinematics helper.
bool doIK (moveit::core::RobotState &state, const moveit::core::JointModelGroup *group, const std::string &group_name, const std::string &tool, const Eigen::Affine3d &pose, const JointConfig &seed, JointConfig &result)
 Inverse kinematics helper. Returns the solution in the result parameter. May return false if IK failed.
JointConfigVec findSeedStatesForPair (moveit::core::RobotState &state, const std::string &group_name, const std::string &tool_frame, const JointPair &pair)
bool isInJointSet (const JointConfig &c, const JointConfigVec &set, const JointPair &pair)
bool isSameJointConfig (const JointConfig &a, const JointConfig &b, const JointPair &pair)
bool isSingularity (moveit::core::RobotState &state, const moveit::core::JointModelGroup *group)
 Returns true if the determinant of the jacobian is near zero.

Typedef Documentation

typedef std::vector<unsigned> BijectionVec

Definition at line 7 of file seed_search.cpp.

typedef std::vector<double> JointConfig

Definition at line 10 of file seed_search.cpp.

typedef std::vector<JointConfig> JointConfigVec

Definition at line 11 of file seed_search.cpp.

typedef std::pair<unsigned, unsigned> JointPair

Definition at line 8 of file seed_search.cpp.

typedef std::vector<JointPair> JointPairVec

Definition at line 9 of file seed_search.cpp.


Function Documentation

std::vector<double> createSeedFromPerms ( const std::vector< double > &  initial,
const std::vector< double > &  a_perms,
unsigned  a_joint_idx,
const std::vector< double > &  b_perms,
unsigned  b_joint_idx,
unsigned  n 
)

Definition at line 116 of file seed_search.cpp.

std::vector<double> createValidJointPositions ( const moveit::core::JointModel model,
double  increment 
)

Definition at line 98 of file seed_search.cpp.

bool doFK ( moveit::core::RobotState state,
const moveit::core::JointModelGroup group,
const std::string &  tool,
const JointConfig joint_pose,
Eigen::Affine3d &  result 
)

Forward kinematics helper.

Definition at line 16 of file seed_search.cpp.

bool doIK ( moveit::core::RobotState state,
const moveit::core::JointModelGroup group,
const std::string &  group_name,
const std::string &  tool,
const Eigen::Affine3d &  pose,
const JointConfig seed,
JointConfig result 
)

Inverse kinematics helper. Returns the solution in the result parameter. May return false if IK failed.

Definition at line 43 of file seed_search.cpp.

JointConfigVec findSeedStatesForPair ( moveit::core::RobotState state,
const std::string &  group_name,
const std::string &  tool_frame,
const JointPair pair 
)

Definition at line 131 of file seed_search.cpp.

bool isInJointSet ( const JointConfig c,
const JointConfigVec set,
const JointPair pair 
) [inline]

Definition at line 89 of file seed_search.cpp.

bool isSameJointConfig ( const JointConfig a,
const JointConfig b,
const JointPair pair 
) [inline]

Definition at line 80 of file seed_search.cpp.

Returns true if the determinant of the jacobian is near zero.

Definition at line 66 of file seed_search.cpp.



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