kinematics_metrics.h
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00034 
00035 /* Author: Sachin Chitta */
00036 
00037 #ifndef MOVEIT_KINEMATICS_METRICS_KINEMATICS_METRICS_
00038 #define MOVEIT_KINEMATICS_METRICS_KINEMATICS_METRICS_
00039 
00040 #include <moveit/robot_state/robot_state.h>
00041 #include <moveit/planning_scene/planning_scene.h>
00042 
00044 namespace kinematics_metrics
00045 {
00046 
00051 class KinematicsMetrics
00052 {
00053 public:
00054 
00056   KinematicsMetrics(const robot_model::RobotModelConstPtr &robot_model) :
00057     robot_model_(robot_model), penalty_multiplier_(0.0)
00058   {
00059   }
00060 
00068   bool getManipulabilityIndex(const robot_state::RobotState &state,
00069                               const std::string &group_name,
00070                               double &manipulability_index,
00071                               bool translation = false) const;
00072 
00080   bool getManipulabilityIndex(const robot_state::RobotState &state,
00081                               const robot_model::JointModelGroup *joint_model_group,
00082                               double &manipulability_index,
00083                               bool translation = false) const;
00084 
00093   bool getManipulabilityEllipsoid(const robot_state::RobotState &state,
00094                                   const std::string &group_name,
00095                                   Eigen::MatrixXcd &eigen_values,
00096                                   Eigen::MatrixXcd &eigen_vectors) const;
00097 
00106   bool getManipulabilityEllipsoid(const robot_state::RobotState &state,
00107                                   const robot_model::JointModelGroup *joint_model_group,
00108                                   Eigen::MatrixXcd &eigen_values,
00109                                   Eigen::MatrixXcd &eigen_vectors) const;
00110 
00120   bool getManipulability(const robot_state::RobotState &state,
00121                          const std::string &group_name,
00122                          double &condition_number,
00123                          bool translation = false) const;
00124 
00134   bool getManipulability(const robot_state::RobotState &state,
00135                          const robot_model::JointModelGroup *joint_model_group,
00136                          double &condition_number,
00137                          bool translation = false) const;
00138 
00139   void setPenaltyMultiplier(double multiplier)
00140   {
00141     penalty_multiplier_ = fabs(multiplier);
00142   }
00143 
00144   const double& getPenaltyMultiplier() const
00145   {
00146     return penalty_multiplier_;
00147   }
00148 
00149 protected:
00150 
00151   robot_model::RobotModelConstPtr robot_model_;
00152 
00153 private:
00154 
00165   double getJointLimitsPenalty(const robot_state::RobotState &state, const robot_model::JointModelGroup *joint_model_group) const;
00166 
00167   double penalty_multiplier_;
00168 
00169 };
00170 
00171 MOVEIT_CLASS_FORWARD(KinematicsMetrics); 
00172 
00173 }
00174 
00175 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Aug 27 2015 13:58:52