TODO. More...

#include <approach_planner.h>

Classes
struct	PlanningData
Public Member Functions
	ApproachPlanner (const ros::NodeHandle &nh)
bool	needsApproach (const std::vector< double > &current_pos, const std::vector< double > &goal_pos)
	TODO.
bool	prependApproach (const std::vector< std::string > &joint_names, const std::vector< double > &current_pos, bool skip_planning, const std::vector< TrajPoint > &traj_in, std::vector< TrajPoint > &traj_out)
	TODO.
Private Types
typedef boost::shared_ptr < ros::AsyncSpinner >	AsyncSpinnerPtr
typedef boost::shared_ptr < ros::CallbackQueue >	CallbackQueuePtr
typedef std::map< std::string, double >	JointGoal
typedef std::vector< std::string >	JointNames
typedef moveit::planning_interface::MoveGroup	MoveGroup
typedef boost::shared_ptr < MoveGroup >	MoveGroupPtr
Private Member Functions
void	combineTrajectories (const JointNames &joint_names, const std::vector< double > &current_pos, const std::vector< TrajPoint > &traj_in, trajectory_msgs::JointTrajectory &approach, std::vector< TrajPoint > &traj_out)
	TODO.
bool	computeApproach (const JointNames &joint_names, const std::vector< double > &current_pos, const std::vector< double > &goal_pos, trajectory_msgs::JointTrajectory &traj)
	TODO.
std::vector< MoveGroupPtr >	getValidMoveGroups (const JointNames &min_group, const JointNames &max_group)
	TODO.
bool	isPlanningJoint (const std::string &joint_name) const
	TODO.
double	noPlanningReachTime (const std::vector< double > &curr_pos, const std::vector< double > &goal_pos)
	TODO.
bool	planApproach (const JointNames &joint_names, const std::vector< double > &joint_values, MoveGroupPtr move_group, trajectory_msgs::JointTrajectory &traj)
	TODO.
Private Attributes
CallbackQueuePtr	cb_queue_
double	joint_tol_
	Absolute tolerance used to determine if two joint positions are approximately equal.
std::vector< std::string >	no_plan_joints_
std::vector< PlanningData >	planning_data_
bool	planning_disabled_
double	skip_planning_min_dur_
	Minimum duration that a non-planned approach can have.
double	skip_planning_vel_
	Maximum average velocity that any joint can have in a non-planned approach.
AsyncSpinnerPtr	spinner_

Detailed Description

TODO.

Definition at line 72 of file approach_planner.h.

Member Typedef Documentation

typedef boost::shared_ptr<ros::AsyncSpinner> play_motion::ApproachPlanner::AsyncSpinnerPtr [private]

Definition at line 92 of file approach_planner.h.

typedef boost::shared_ptr<ros::CallbackQueue> play_motion::ApproachPlanner::CallbackQueuePtr [private]

Definition at line 93 of file approach_planner.h.

typedef std::map<std::string, double> play_motion::ApproachPlanner::JointGoal [private]

Definition at line 95 of file approach_planner.h.

typedef std::vector<std::string> play_motion::ApproachPlanner::JointNames [private]

Definition at line 94 of file approach_planner.h.

typedef moveit::planning_interface::MoveGroup play_motion::ApproachPlanner::MoveGroup [private]

Definition at line 90 of file approach_planner.h.

typedef boost::shared_ptr<MoveGroup> play_motion::ApproachPlanner::MoveGroupPtr [private]

Definition at line 91 of file approach_planner.h.

Constructor & Destructor Documentation

play_motion::ApproachPlanner::ApproachPlanner ( const ros::NodeHandle & nh )

Definition at line 95 of file approach_planner.cpp.

Member Function Documentation

void play_motion::ApproachPlanner::combineTrajectories	(	const JointNames &	joint_names,
		const std::vector< double > &	current_pos,
		const std::vector< TrajPoint > &	traj_in,
		trajectory_msgs::JointTrajectory &	approach,
		std::vector< TrajPoint > &	traj_out
	)		`[private]`

TODO.

Definition at line 408 of file approach_planner.cpp.

bool play_motion::ApproachPlanner::computeApproach	(	const JointNames &	joint_names,
		const std::vector< double > &	current_pos,
		const std::vector< double > &	goal_pos,
		trajectory_msgs::JointTrajectory &	traj
	)		`[private]`

TODO.

Definition at line 307 of file approach_planner.cpp.

vector< ApproachPlanner::MoveGroupPtr > play_motion::ApproachPlanner::getValidMoveGroups	(	const JointNames &	min_group,
		const JointNames &	max_group
	)		`[private]`

TODO.

Definition at line 479 of file approach_planner.cpp.

bool play_motion::ApproachPlanner::isPlanningJoint ( const std::string & joint_name ) const [private]

TODO.

Definition at line 504 of file approach_planner.cpp.

bool play_motion::ApproachPlanner::needsApproach	(	const std::vector< double > &	current_pos,
		const std::vector< double > &	goal_pos
	)

TODO.

Definition at line 296 of file approach_planner.cpp.

double play_motion::ApproachPlanner::noPlanningReachTime	(	const std::vector< double > &	curr_pos,
		const std::vector< double > &	goal_pos
	)		`[private]`

TODO.

Definition at line 509 of file approach_planner.cpp.

bool play_motion::ApproachPlanner::planApproach	(	const JointNames &	joint_names,
		const std::vector< double > &	joint_values,
		MoveGroupPtr	move_group,
		trajectory_msgs::JointTrajectory &	traj
	)		`[private]`

TODO.

Definition at line 373 of file approach_planner.cpp.

bool play_motion::ApproachPlanner::prependApproach	(	const std::vector< std::string > &	joint_names,
		const std::vector< double > &	current_pos,
		bool	skip_planning,
		const std::vector< TrajPoint > &	traj_in,
		std::vector< TrajPoint > &	traj_out
	)