chomp_cost.cpp
/home/rosbuild/hudson/workspace/doc-hydro-moveit_planners/doc_stacks/2015-09-16_04-39-53.692132/moveit_planners/chomp/core/chomp_motion_planner/src/
chomp__cost_8cpp
chomp_motion_planner/chomp_cost.h
chomp_motion_planner/chomp_utils.h
chomp
chomp_cost.h
/home/rosbuild/hudson/workspace/doc-hydro-moveit_planners/doc_stacks/2015-09-16_04-39-53.692132/moveit_planners/chomp/core/chomp_motion_planner/include/chomp_motion_planner/
chomp__cost_8h
chomp_motion_planner/chomp_trajectory.h
chomp::ChompCost
chomp
chomp_optimizer.cpp
/home/rosbuild/hudson/workspace/doc-hydro-moveit_planners/doc_stacks/2015-09-16_04-39-53.692132/moveit_planners/chomp/core/chomp_motion_planner/src/
chomp__optimizer_8cpp
chomp_motion_planner/chomp_optimizer.h
chomp_motion_planner/chomp_utils.h
chomp
double
getRandomDouble
namespacechomp.html
a3cb4d6d2179e5505bce99ccf70e4b61e
()
chomp_optimizer.h
/home/rosbuild/hudson/workspace/doc-hydro-moveit_planners/doc_stacks/2015-09-16_04-39-53.692132/moveit_planners/chomp/core/chomp_motion_planner/include/chomp_motion_planner/
chomp__optimizer_8h
chomp_motion_planner/chomp_parameters.h
chomp_motion_planner/chomp_trajectory.h
chomp_motion_planner/chomp_cost.h
chomp_motion_planner/multivariate_gaussian.h
chomp::ChompOptimizer
chomp
chomp_parameters.cpp
/home/rosbuild/hudson/workspace/doc-hydro-moveit_planners/doc_stacks/2015-09-16_04-39-53.692132/moveit_planners/chomp/core/chomp_motion_planner/src/
chomp__parameters_8cpp
chomp_motion_planner/chomp_parameters.h
chomp
chomp_parameters.h
/home/rosbuild/hudson/workspace/doc-hydro-moveit_planners/doc_stacks/2015-09-16_04-39-53.692132/moveit_planners/chomp/core/chomp_motion_planner/include/chomp_motion_planner/
chomp__parameters_8h
chomp::ChompParameters
chomp
chomp_planner.cpp
/home/rosbuild/hudson/workspace/doc-hydro-moveit_planners/doc_stacks/2015-09-16_04-39-53.692132/moveit_planners/chomp/core/chomp_motion_planner/src/
chomp__planner_8cpp
chomp_motion_planner/chomp_planner.h
chomp_motion_planner/chomp_trajectory.h
chomp_motion_planner/chomp_optimizer.h
chomp
chomp_planner.h
/home/rosbuild/hudson/workspace/doc-hydro-moveit_planners/doc_stacks/2015-09-16_04-39-53.692132/moveit_planners/chomp/core/chomp_motion_planner/include/chomp_motion_planner/
chomp__planner_8h
chomp_motion_planner/chomp_parameters.h
chomp::ChompPlanner
chomp
chomp_trajectory.cpp
/home/rosbuild/hudson/workspace/doc-hydro-moveit_planners/doc_stacks/2015-09-16_04-39-53.692132/moveit_planners/chomp/core/chomp_motion_planner/src/
chomp__trajectory_8cpp
chomp_motion_planner/chomp_trajectory.h
chomp
chomp_trajectory.h
/home/rosbuild/hudson/workspace/doc-hydro-moveit_planners/doc_stacks/2015-09-16_04-39-53.692132/moveit_planners/chomp/core/chomp_motion_planner/include/chomp_motion_planner/
chomp__trajectory_8h
chomp_motion_planner/chomp_utils.h
chomp::ChompTrajectory
chomp
chomp_utils.h
/home/rosbuild/hudson/workspace/doc-hydro-moveit_planners/doc_stacks/2015-09-16_04-39-53.692132/moveit_planners/chomp/core/chomp_motion_planner/include/chomp_motion_planner/
chomp__utils_8h
chomp
static void
jointStateToArray
namespacechomp.html
ae7de05a950f5ddefed1ab0bd3b30287e
(const planning_models::RobotModelConstPtr &kmodel, const sensor_msgs::JointState &joint_state, const std::string &planning_group_name, Eigen::MatrixXd::RowXpr joint_array)
static double
normalizeAngle
namespacechomp.html
a1aae9030c10786a3d6ee02b82c3af8c4
(double angle)
static double
normalizeAnglePositive
namespacechomp.html
a812ecedf3dff555381aaffdeb540555f
(double angle)
static double
shortestAngularDistance
namespacechomp.html
ab960ac68e29455075c29159b42c6046c
(double start, double end)
static const int
DIFF_RULE_LENGTH
namespacechomp.html
a00ceb4fc5e1c66b78ed4f27ec5070890
static const double
DIFF_RULES
namespacechomp.html
ab286a447a07d0fe5e8dc07aa5009ab52
[3][DIFF_RULE_LENGTH]
multivariate_gaussian.h
/home/rosbuild/hudson/workspace/doc-hydro-moveit_planners/doc_stacks/2015-09-16_04-39-53.692132/moveit_planners/chomp/core/chomp_motion_planner/include/chomp_motion_planner/
multivariate__gaussian_8h
chomp::MultivariateGaussian
chomp
chomp
namespacechomp.html
chomp::ChompCost
chomp::ChompOptimizer
chomp::ChompParameters
chomp::ChompPlanner
chomp::ChompTrajectory
chomp::MultivariateGaussian
double
getRandomDouble
namespacechomp.html
a3cb4d6d2179e5505bce99ccf70e4b61e
()
static void
jointStateToArray
namespacechomp.html
ae7de05a950f5ddefed1ab0bd3b30287e
(const planning_models::RobotModelConstPtr &kmodel, const sensor_msgs::JointState &joint_state, const std::string &planning_group_name, Eigen::MatrixXd::RowXpr joint_array)
static double
normalizeAngle
namespacechomp.html
a1aae9030c10786a3d6ee02b82c3af8c4
(double angle)
static double
normalizeAnglePositive
namespacechomp.html
a812ecedf3dff555381aaffdeb540555f
(double angle)
static double
shortestAngularDistance
namespacechomp.html
ab960ac68e29455075c29159b42c6046c
(double start, double end)
static const int
DIFF_RULE_LENGTH
namespacechomp.html
a00ceb4fc5e1c66b78ed4f27ec5070890
static const double
DIFF_RULES
namespacechomp.html
ab286a447a07d0fe5e8dc07aa5009ab52
[3][DIFF_RULE_LENGTH]
chomp::ChompCost
classchomp_1_1ChompCost.html
ChompCost
classchomp_1_1ChompCost.html
a0f57ec99bc10539e37c11fdb8271b233
(const ChompTrajectory &trajectory, int joint_number, const std::vector< double > &derivative_costs, double ridge_factor=0.0)
double
getCost
classchomp_1_1ChompCost.html
ab0d347402f1c04b9f5085ba1fed70d76
(Eigen::MatrixXd::ColXpr joint_trajectory) const
void
getDerivative
classchomp_1_1ChompCost.html
a89ca2cb381b90898eee9cd11db85b1dc
(Eigen::MatrixXd::ColXpr joint_trajectory, Eigen::MatrixBase< Derived > &derivative) const
double
getMaxQuadCostInvValue
classchomp_1_1ChompCost.html
aee7500f16b3b41d44a72e6e6ed2fdde9
() const
const Eigen::MatrixXd &
getQuadraticCost
classchomp_1_1ChompCost.html
a3b23af7a19de29f542588a09e661614b
() const
const Eigen::MatrixXd &
getQuadraticCostInverse
classchomp_1_1ChompCost.html
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() const
void
scale
classchomp_1_1ChompCost.html
af2fd127ceeebeb80a172b24656e62cfe
(double scale)
virtual
~ChompCost
classchomp_1_1ChompCost.html
ae10337b24bc348ed818cc9735ee7e521
()
Eigen::MatrixXd
getDiffMatrix
classchomp_1_1ChompCost.html
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(int size, const double *diff_rule) const
Eigen::MatrixXd
quad_cost_
classchomp_1_1ChompCost.html
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Eigen::MatrixXd
quad_cost_full_
classchomp_1_1ChompCost.html
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Eigen::MatrixXd
quad_cost_inv_
classchomp_1_1ChompCost.html
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chomp::ChompOptimizer
classchomp_1_1ChompOptimizer.html
ChompOptimizer
classchomp_1_1ChompOptimizer.html
a25bce0fb42dabe28e4e90cc949845b7d
(ChompTrajectory *trajectory, const planning_scene::PlanningSceneConstPtr &planning_scene, const std::string &planning_group, const ChompParameters *parameters, const planning_models::RobotState &start_state)
void
destroy
classchomp_1_1ChompOptimizer.html
a95e16eaf024162f644072f3f986b9e9b
()
bool
isInitialized
classchomp_1_1ChompOptimizer.html
ab20b3e218cc3e17986a6c6b65e9d98f9
() const
void
optimize
classchomp_1_1ChompOptimizer.html
aa6725070344aabc49998d1d225e461bd
()
virtual
~ChompOptimizer
classchomp_1_1ChompOptimizer.html
a2d645e404e612383fc506ac65935a88d
()
void
addIncrementsToTrajectory
classchomp_1_1ChompOptimizer.html
a2db6515a66d055215071b41514c4936e
()
void
calculateCollisionIncrements
classchomp_1_1ChompOptimizer.html
a58b03cf2a0276ed687f285dbfe3498e3
()
void
calculatePseudoInverse
classchomp_1_1ChompOptimizer.html
aa1ace51000e0432ef922b5ad7bd25bda
()
void
calculateSmoothnessIncrements
classchomp_1_1ChompOptimizer.html
a9e29afcf3f2c7a6e4eebe6c5f9d5f82f
()
void
calculateTotalIncrements
classchomp_1_1ChompOptimizer.html
aa0a834c7c08af9c552178ae30ccc1673
()
void
computeJointProperties
classchomp_1_1ChompOptimizer.html
a694f826e2e33b3a12b4054951012a152
(int trajectoryPoint)
void
debugCost
classchomp_1_1ChompOptimizer.html
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()
double
getCollisionCost
classchomp_1_1ChompOptimizer.html
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()
void
getJacobian
classchomp_1_1ChompOptimizer.html
a3af8403ba534187764580f6263f83d4a
(int trajectoryPoint, Eigen::Vector3d &collision_point_pos, std::string &jointName, Eigen::MatrixBase< Derived > &jacobian) const
double
getPotential
classchomp_1_1ChompOptimizer.html
a9065166977f548d225193013ad1da6c1
(double field_distance, double radius, double clearence)
void
getRandomMomentum
classchomp_1_1ChompOptimizer.html
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()
double
getSmoothnessCost
classchomp_1_1ChompOptimizer.html
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()
double
getTrajectoryCost
classchomp_1_1ChompOptimizer.html
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()
void
handleJointLimits
classchomp_1_1ChompOptimizer.html
a836de9ad21ca36219b237be668376969
()
void
initialize
classchomp_1_1ChompOptimizer.html
ae07453fd4e982a96406e68ffd7058f2b
()
bool
isCurrentTrajectoryMeshToMeshCollisionFree
classchomp_1_1ChompOptimizer.html
a20554eae9ec76a4a41ecf216e2e743ba
() const
bool
isParent
classchomp_1_1ChompOptimizer.html
ab34d016c9ccd53fec1def6faf13336e4
(const std::string &childLink, const std::string &parentLink) const
void
performForwardKinematics
classchomp_1_1ChompOptimizer.html
a1e7ec0f06f19405956b5dab1e63f2c74
()
void
perturbTrajectory
classchomp_1_1ChompOptimizer.html
a9d660cc8157a54e74a16608602ae2d4d
()
void
registerParents
classchomp_1_1ChompOptimizer.html
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(const planning_models::RobotModel::JointModel *model)
void
setRobotStateFromPoint
classchomp_1_1ChompOptimizer.html
a9dd8e8d8f903112d32743448090a0cbd
(ChompTrajectory &group_trajectory, int i)
void
updateFullTrajectory
classchomp_1_1ChompOptimizer.html
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()
void
updateMomentum
classchomp_1_1ChompOptimizer.html
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()
void
updatePositionFromMomentum
classchomp_1_1ChompOptimizer.html
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()
Eigen::MatrixXd
best_group_trajectory_
classchomp_1_1ChompOptimizer.html
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double
best_group_trajectory_cost_
classchomp_1_1ChompOptimizer.html
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unsigned int
collision_free_iteration_
classchomp_1_1ChompOptimizer.html
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Eigen::MatrixXd
collision_increments_
classchomp_1_1ChompOptimizer.html
a8de144c16b30bdb83c47c8b3ed84517f
std::vector< std::vector< Eigen::Vector3d > >
collision_point_acc_eigen_
classchomp_1_1ChompOptimizer.html
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std::vector< std::vector< std::string > >
collision_point_joint_names_
classchomp_1_1ChompOptimizer.html
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std::vector< std::vector< Eigen::Vector3d > >
collision_point_pos_eigen_
classchomp_1_1ChompOptimizer.html
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std::vector< std::vector< double > >
collision_point_potential_
classchomp_1_1ChompOptimizer.html
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std::vector< std::vector< Eigen::Vector3d > >
collision_point_potential_gradient_
classchomp_1_1ChompOptimizer.html
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std::vector< std::vector< Eigen::Vector3d > >
collision_point_vel_eigen_
classchomp_1_1ChompOptimizer.html
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std::vector< std::vector< double > >
collision_point_vel_mag_
classchomp_1_1ChompOptimizer.html
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Eigen::MatrixXd
final_increments_
classchomp_1_1ChompOptimizer.html
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int
free_vars_end_
classchomp_1_1ChompOptimizer.html
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int
free_vars_start_
classchomp_1_1ChompOptimizer.html
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ChompTrajectory *
full_trajectory_
classchomp_1_1ChompOptimizer.html
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ChompTrajectory
group_trajectory_
classchomp_1_1ChompOptimizer.html
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Eigen::MatrixXd
group_trajectory_backup_
classchomp_1_1ChompOptimizer.html
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boost::shared_ptr< collision_detection::GroupStateRepresentation >
gsr_
classchomp_1_1ChompOptimizer.html
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const collision_detection::CollisionRobotHybrid *
hy_robot_
classchomp_1_1ChompOptimizer.html
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const collision_detection::CollisionWorldHybrid *
hy_world_
classchomp_1_1ChompOptimizer.html
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bool
initialized_
classchomp_1_1ChompOptimizer.html
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bool
is_collision_free_
classchomp_1_1ChompOptimizer.html
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int
iteration_
classchomp_1_1ChompOptimizer.html
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Eigen::MatrixXd
jacobian_
classchomp_1_1ChompOptimizer.html
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Eigen::MatrixXd
jacobian_jacobian_tranpose_
classchomp_1_1ChompOptimizer.html
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Eigen::MatrixXd
jacobian_pseudo_inverse_
classchomp_1_1ChompOptimizer.html
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std::vector< std::vector< Eigen::Vector3d > >
joint_axes_
classchomp_1_1ChompOptimizer.html
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std::vector< ChompCost >
joint_costs_
classchomp_1_1ChompOptimizer.html
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const planning_models::RobotModel::JointModelGroup *
joint_model_group_
classchomp_1_1ChompOptimizer.html
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std::vector< std::string >
joint_names_
classchomp_1_1ChompOptimizer.html
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std::map< std::string, std::map< std::string, bool > >
joint_parent_map_
classchomp_1_1ChompOptimizer.html
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std::vector< std::vector< Eigen::Vector3d > >
joint_positions_
classchomp_1_1ChompOptimizer.html
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Eigen::VectorXd
joint_state_velocities_
classchomp_1_1ChompOptimizer.html
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const planning_models::RobotModelConstPtr &
kmodel_
classchomp_1_1ChompOptimizer.html
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int
last_improvement_iteration_
classchomp_1_1ChompOptimizer.html
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Eigen::MatrixXd
momentum_
classchomp_1_1ChompOptimizer.html
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std::vector< MultivariateGaussian >
multivariate_gaussian_
classchomp_1_1ChompOptimizer.html
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unsigned int
num_collision_free_iterations_
classchomp_1_1ChompOptimizer.html
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int
num_collision_points_
classchomp_1_1ChompOptimizer.html
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int
num_joints_
classchomp_1_1ChompOptimizer.html
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int
num_vars_all_
classchomp_1_1ChompOptimizer.html
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int
num_vars_free_
classchomp_1_1ChompOptimizer.html
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const ChompParameters *
parameters_
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std::string
planning_group_
classchomp_1_1ChompOptimizer.html
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planning_scene::PlanningSceneConstPtr
planning_scene_
classchomp_1_1ChompOptimizer.html
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std::vector< std::vector< int > >
point_is_in_collision_
classchomp_1_1ChompOptimizer.html
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Eigen::VectorXd
random_joint_momentum_
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Eigen::MatrixXd
random_momentum_
classchomp_1_1ChompOptimizer.html
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Eigen::VectorXd
random_state_
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Eigen::VectorXd
smoothness_derivative_
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Eigen::MatrixXd
smoothness_increments_
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planning_models::RobotState *
start_state_
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planning_models::RobotState *
state_
classchomp_1_1ChompOptimizer.html
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std::vector< int >
state_is_in_collision_
classchomp_1_1ChompOptimizer.html
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double
stochasticity_factor_
classchomp_1_1ChompOptimizer.html
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double
worst_collision_cost_state_
classchomp_1_1ChompOptimizer.html
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chomp::ChompParameters
classchomp_1_1ChompParameters.html
ChompParameters
classchomp_1_1ChompParameters.html
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()
bool
getAddRandomness
classchomp_1_1ChompParameters.html
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() const
bool
getAnimateEndeffector
classchomp_1_1ChompParameters.html
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() const
std::string
getAnimateEndeffectorSegment
classchomp_1_1ChompParameters.html
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() const
bool
getAnimatePath
classchomp_1_1ChompParameters.html
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() const
double
getCollisionThreshold
classchomp_1_1ChompParameters.html
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() const
bool
getFilterMode
classchomp_1_1ChompParameters.html
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() const
double
getHmcAnnealingFactor
classchomp_1_1ChompParameters.html
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() const
double
getHmcDiscretization
classchomp_1_1ChompParameters.html
a3eec7c95113a1d78c57501028733940b
() const
double
getHmcStochasticity
classchomp_1_1ChompParameters.html
ad449a1f8df40a503929dbb81bee33d13
() const
double
getJointUpdateLimit
classchomp_1_1ChompParameters.html
addb72a4f79722ecf735cfc096462d451
() const
double
getLearningRate
classchomp_1_1ChompParameters.html
a099b2edf48b016021f3dffbd31e1409f
() const
int
getMaxIterations
classchomp_1_1ChompParameters.html
a734cd7093561f251c18c87310bc4ddfa
() const
int
getMaxIterationsAfterCollisionFree
classchomp_1_1ChompParameters.html
a5824ef07805a5f447d44d0697d5848ca
() const
double
getMinClearence
classchomp_1_1ChompParameters.html
a1652b1b8162bb1a9d9bf343174b251c9
() const
double
getObstacleCostWeight
classchomp_1_1ChompParameters.html
ad8f336f82790c8c2e7f7ffeeb0dd7b1d
() const
double
getPlanningTimeLimit
classchomp_1_1ChompParameters.html
a94219e6cd3608fb506465420dd7d7202
() const
double
getPseudoInverseRidgeFactor
classchomp_1_1ChompParameters.html
ace1dcfc7ecf91d6b5f4cd5e412d90058
() const
double
getRandomJumpAmount
classchomp_1_1ChompParameters.html
a254e1e8e268fadae86c15a1e41f07ac2
() const
double
getRidgeFactor
classchomp_1_1ChompParameters.html
a7dbf5c762b182a628e17a86d50270ba6
() const
double
getSmoothnessCostAcceleration
classchomp_1_1ChompParameters.html
ae4f1ee76c4e5a7579206b71ffbcee698
() const
double
getSmoothnessCostJerk
classchomp_1_1ChompParameters.html
a970b3b3257ae41c4f447b7da72ef89f3
() const
double
getSmoothnessCostVelocity
classchomp_1_1ChompParameters.html
a823f00c7beae1ab033fd2b2e8da8ce07
() const
double
getSmoothnessCostWeight
classchomp_1_1ChompParameters.html
a9f5ff75ef1bdf28242185797ee2ab623
() const
bool
getUseHamiltonianMonteCarlo
classchomp_1_1ChompParameters.html
a78e5ac88b3b0206acb7d06cfc1b5adac
() const
bool
getUsePseudoInverse
classchomp_1_1ChompParameters.html
ad3627a767a4f9131b6b3e45a65dfc147
() const
bool
getUseStochasticDescent
classchomp_1_1ChompParameters.html
a2821160867302a429bb337bb9741da28
() const
void
setFilterMode
classchomp_1_1ChompParameters.html
a5200b67816699caa301c66af1f6a094b
(bool mode)
void
setPlanningTimeLimit
classchomp_1_1ChompParameters.html
af76f71b8dbe3f93bacf6474d18156399
(double planning_time_limit)
void
setRandomJumpAmount
classchomp_1_1ChompParameters.html
a058ddb014e2a66cd50b9833e262d19ae
(double amount)
virtual
~ChompParameters
classchomp_1_1ChompParameters.html
a9c83bf159e434bbfcadb31d9995e0ac2
()
bool
add_randomness_
classchomp_1_1ChompParameters.html
a2e29d987ed1fb247580268a58884a1a8
bool
animate_endeffector_
classchomp_1_1ChompParameters.html
aada17645d4f710a023340fb7db9dc945
std::string
animate_endeffector_segment_
classchomp_1_1ChompParameters.html
ab1f7afc49827eb2d4d702f889d375be7
bool
animate_path_
classchomp_1_1ChompParameters.html
a17570d870f4d5050d24a4362a5abb62d
double
collision_threshold_
classchomp_1_1ChompParameters.html
a01e2a6c20469273660d939ffecccb439
bool
filter_mode_
classchomp_1_1ChompParameters.html
a7687a2bc613fe773c56974072a7b257e
double
hmc_annealing_factor_
classchomp_1_1ChompParameters.html
a39790cc77c106e89c096e045e9d6d202
double
hmc_discretization_
classchomp_1_1ChompParameters.html
a3c9b67ea547cc9390972254df944eff5
double
hmc_stochasticity_
classchomp_1_1ChompParameters.html
adf8193ec74ba08f75328306f37fd6ade
double
joint_update_limit_
classchomp_1_1ChompParameters.html
ae03aabba1ced49e6f9dbbdd287adb02d
double
learning_rate_
classchomp_1_1ChompParameters.html
af603e620498d300bde1159e4edd3981c
int
max_iterations_
classchomp_1_1ChompParameters.html
aea2b23c848608c74ab3cfc768f103733
int
max_iterations_after_collision_free_
classchomp_1_1ChompParameters.html
ad429eeecfa51f163373e5f89a8593d11
double
min_clearence_
classchomp_1_1ChompParameters.html
ab92dcf4ac9e3800814565ca1470e0706
double
obstacle_cost_weight_
classchomp_1_1ChompParameters.html
aeec8f058d69671792f96c7fa0017e065
double
planning_time_limit_
classchomp_1_1ChompParameters.html
a057028f02f3a2314a57351221b17b8c6
double
pseudo_inverse_ridge_factor_
classchomp_1_1ChompParameters.html
a76bb5c0214818b278cf5525b8e11f4b2
double
random_jump_amount_
classchomp_1_1ChompParameters.html
a0d5eca3788d5a61a248ad51b2c9f2378
double
ridge_factor_
classchomp_1_1ChompParameters.html
a8a5689561abc217f035eb90623cfc2bc
double
smoothness_cost_acceleration_
classchomp_1_1ChompParameters.html
a6d1eeb3dec5f60058775b67bc748977b
double
smoothness_cost_jerk_
classchomp_1_1ChompParameters.html
a5fccd7eb47435c5a451c02a734a6859a
double
smoothness_cost_velocity_
classchomp_1_1ChompParameters.html
ad3636d8c33aa7e70e482749ff58fe7cc
double
smoothness_cost_weight_
classchomp_1_1ChompParameters.html
a193442a77a13bcd514d1df43d6594ab5
bool
use_hamiltonian_monte_carlo_
classchomp_1_1ChompParameters.html
a60fe211293a12a8ee4c7665954d4eaf9
bool
use_pseudo_inverse_
classchomp_1_1ChompParameters.html
a4b2be5cb20227e77576b5243f57d9522
bool
use_stochastic_descent_
classchomp_1_1ChompParameters.html
a720d0351b9f2c20f27493c00a3a3173a
chomp::ChompPlanner
classchomp_1_1ChompPlanner.html
ChompPlanner
classchomp_1_1ChompPlanner.html
a0151a9bd3b3ab0019ca7242621c00dff
(const planning_models::RobotModelConstPtr &kmodel)
bool
solve
classchomp_1_1ChompPlanner.html
a5290348dad826427ef23b262a4a47505
(const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::GetMotionPlan::Request &req, const ChompParameters ¶ms, moveit_msgs::GetMotionPlan::Response &res) const
virtual
~ChompPlanner
classchomp_1_1ChompPlanner.html
a67a1cbd2a19e4834744fe2641a64e092
()
chomp::ChompTrajectory
classchomp_1_1ChompTrajectory.html
ChompTrajectory
classchomp_1_1ChompTrajectory.html
ac1dc89e794454ae63fde348c976812ba
(const planning_models::RobotModelConstPtr &robot_model, double duration, double discretization, std::string groupName)
ChompTrajectory
classchomp_1_1ChompTrajectory.html
a3c1ea911eac8580ddd637c3ab84a3e21
(const planning_models::RobotModelConstPtr &robot_model, int num_points, double discretization, std::string groupName)
ChompTrajectory
classchomp_1_1ChompTrajectory.html
a14b7f530c631cbf0240316c86106df8d
(const ChompTrajectory &source_traj, const std::string &planning_group, int diff_rule_length)
ChompTrajectory
classchomp_1_1ChompTrajectory.html
a919c8de3499697a92adb0ffe21c4506b
(const planning_models::RobotModelConstPtr &robot_model, const std::string &planning_group, const trajectory_msgs::JointTrajectory &traj)
void
fillInMinJerk
classchomp_1_1ChompTrajectory.html
ae303b1655bb3bc70acb3acc68c7f071b
()
double
getDiscretization
classchomp_1_1ChompTrajectory.html
ad45eb1b5bccf05fbaffeffea1c65a2ef
() const
double
getDuration
classchomp_1_1ChompTrajectory.html
aa992730693b1d52b3fb82dda9d7d97bb
() const
int
getEndIndex
classchomp_1_1ChompTrajectory.html
a0840c373c7ab8654f9260bd6422f5082
() const
Eigen::Block< Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic >
getFreeJointTrajectoryBlock
classchomp_1_1ChompTrajectory.html
a55ac729b6068769390eb5cba34057e70
(int joint)
Eigen::Block< Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic >
getFreeTrajectoryBlock
classchomp_1_1ChompTrajectory.html
a0e2396f83d3e6e93da03c01022f296c3
()
int
getFullTrajectoryIndex
classchomp_1_1ChompTrajectory.html
aa829e3a7aa90ddde393b3e8af98e2857
(int i) const
Eigen::MatrixXd::ColXpr
getJointTrajectory
classchomp_1_1ChompTrajectory.html
ac4a59a86e9afc0616d9ee44a6440d348
(int joint)
void
getJointVelocities
classchomp_1_1ChompTrajectory.html
af7388b6a63bd847c96543f1d50d62602
(int traj_point, Eigen::MatrixBase< Derived > &velocities)
int
getNumFreePoints
classchomp_1_1ChompTrajectory.html
abccb302626f72c7327b67553e7ef2cc3
() const
int
getNumJoints
classchomp_1_1ChompTrajectory.html
a2aff3c3f94575ee1d563fde05dec7882
() const
int
getNumPoints
classchomp_1_1ChompTrajectory.html
add556ff3ebd90f672a9b6b70fc49a0a1
() const
int
getStartIndex
classchomp_1_1ChompTrajectory.html
a8d42a79249cc2de5b0846673302315d2
() const
Eigen::MatrixXd &
getTrajectory
classchomp_1_1ChompTrajectory.html
ae0dc82cbaec33cbe55805e66264f7fc8
()
Eigen::MatrixXd::RowXpr
getTrajectoryPoint
classchomp_1_1ChompTrajectory.html
a98259b5fe962c1f2e010b3bb747324f3
(int traj_point)
double &
operator()
classchomp_1_1ChompTrajectory.html
a31140eeee36fdc11a9c5c72971a9530f
(int traj_point, int joint)
double
operator()
classchomp_1_1ChompTrajectory.html
ad3b4580c32da2416d4323f1a3f59f3b0
(int traj_point, int joint) const
void
overwriteTrajectory
classchomp_1_1ChompTrajectory.html
a37d4b2e5eec3a51e33b063e171f5faa0
(const trajectory_msgs::JointTrajectory &traj)
void
setStartEndIndex
classchomp_1_1ChompTrajectory.html
a5fb5f80bc07c4ca2167c12b7c00db8d5
(int start_index, int end_index)
void
updateFromGroupTrajectory
classchomp_1_1ChompTrajectory.html
a4492f077e039ff75bf4a62f678242898
(const ChompTrajectory &group_trajectory)
virtual
~ChompTrajectory
classchomp_1_1ChompTrajectory.html
a5e2629e043df41de88a5968272ec1380
()
void
init
classchomp_1_1ChompTrajectory.html
ab36b824db97ddb30ba87bdca2420146e
()
double
discretization_
classchomp_1_1ChompTrajectory.html
a8ed656684e070c67c83efdf0ddc8aa7f
double
duration_
classchomp_1_1ChompTrajectory.html
aa73eb2c5868cf48eb6ed4b5cb7560131
int
end_index_
classchomp_1_1ChompTrajectory.html
a808202b424f7ee182b4734f8ae85f292
std::vector< int >
full_trajectory_index_
classchomp_1_1ChompTrajectory.html
a867c77bf6be1cf2c92ed6f5d561bcc3b
int
num_joints_
classchomp_1_1ChompTrajectory.html
a3fd5a09bbbb6499d2a6172e5efaf691b
int
num_points_
classchomp_1_1ChompTrajectory.html
acbd047da7950d9a060914b11bffbd8fe
std::string
planning_group_name_
classchomp_1_1ChompTrajectory.html
afe14f43b5e1cb11a8599ea3905388067
int
start_index_
classchomp_1_1ChompTrajectory.html
a606186438196c6684776adadd51a980e
Eigen::MatrixXd
trajectory_
classchomp_1_1ChompTrajectory.html
ac54c88664251d5277cbcb2635726c8e2
chomp::MultivariateGaussian
classchomp_1_1MultivariateGaussian.html
MultivariateGaussian
classchomp_1_1MultivariateGaussian.html
a53b2e635d0c1fe08ac1aa7d1290e63ab
(const Eigen::MatrixBase< Derived1 > &mean, const Eigen::MatrixBase< Derived2 > &covariance)
void
sample
classchomp_1_1MultivariateGaussian.html
a147d649b2d6bf6ad361e05eb940c560d
(Eigen::MatrixBase< Derived > &output)
Eigen::MatrixXd
covariance_
classchomp_1_1MultivariateGaussian.html
ab38d382e1f233862b6f0af88548ac7eb
Eigen::MatrixXd
covariance_cholesky_
classchomp_1_1MultivariateGaussian.html
a83e0cf549ec7f859080182bcede372d9
boost::variate_generator< boost::mt19937, boost::normal_distribution<> >
gaussian_
classchomp_1_1MultivariateGaussian.html
aff5aa31a075784738981500919d8434a
Eigen::VectorXd
mean_
classchomp_1_1MultivariateGaussian.html
a0901dda87766287a1597db26c4a19ea6
boost::normal_distribution
normal_dist_
classchomp_1_1MultivariateGaussian.html
aaaeff46ed867664bc62d4541e1c2691c
boost::mt19937
rng_
classchomp_1_1MultivariateGaussian.html
a85676d7eeb93a12cbf135dccbe558e29
int
size_
classchomp_1_1MultivariateGaussian.html
aef78522e88b3dbc512317ef09b8e6f0c
moveit
namespacemoveit.html
ros
namespaceros.html