Checks that the joint values are within the limits as defined in the urdf file. It modifies the values of those joints that exceed the limits. More...

#include <joint_limits.h>

Inheritance diagram for stomp_moveit::noisy_filters::JointLimits:

[legend]

List of all members.

Public Member Functions
virtual bool	configure (const XmlRpc::XmlRpcValue &config) override
	see base class for documentation
virtual bool	filter (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, int rollout_number, Eigen::MatrixXd &parameters, bool &filtered) override
	Sets the joint values to the closest joint limit whenever it's found outside the allowed range.
virtual std::string	getGroupName () const override
virtual std::string	getName () const override
virtual bool	initialize (moveit::core::RobotModelConstPtr robot_model_ptr, const std::string &group_name, const XmlRpc::XmlRpcValue &config) override
	see base class for documentation
	JointLimits ()
virtual bool	setMotionPlanRequest (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::MotionPlanRequest &req, const stomp_core::StompConfiguration &config, moveit_msgs::MoveItErrorCodes &error_code) override
	see base class for documentation
virtual	~JointLimits ()
Protected Attributes
moveit::core::RobotStatePtr	goal_state_
std::string	group_name_
bool	lock_goal_
bool	lock_start_
moveit::core::RobotModelConstPtr	robot_model_
moveit::core::RobotStatePtr	start_state_

Detailed Description

Checks that the joint values are within the limits as defined in the urdf file. It modifies the values of those joints that exceed the limits.

Examples:: All examples are located here stomp_core examples

Definition at line 46 of file joint_limits.h.

Constructor & Destructor Documentation

stomp_moveit::noisy_filters::JointLimits::JointLimits ( )

Definition at line 38 of file joint_limits.cpp.

stomp_moveit::noisy_filters::JointLimits::~JointLimits ( ) [virtual]

Definition at line 46 of file joint_limits.cpp.

Member Function Documentation

bool stomp_moveit::noisy_filters::JointLimits::configure ( const XmlRpc::XmlRpcValue & config ) [override, virtual]

see base class for documentation

Implements stomp_moveit::noisy_filters::StompNoisyFilter.

Definition at line 66 of file joint_limits.cpp.

bool stomp_moveit::noisy_filters::JointLimits::filter	(	std::size_t	start_timestep,
		std::size_t	num_timesteps,
		int	iteration_number,
		int	rollout_number,
		Eigen::MatrixXd &	parameters,
		bool &	filtered
	)		`[override, virtual]`

Sets the joint values to the closest joint limit whenever it's found outside the allowed range.

Parameters:

start_timestep	Start index into the 'parameters' array, usually 0.
num_timesteps	Number of elements to use from 'parameters' starting from 'start_timestep'
iteration_number	The current iteration count in the optimization loop.
rollout_number	Index of the noisy trajectory whose cost is being evaluated.
parameters	Output argument containing the parameters to be filtered [num_dimensions x num_timesteps].
filtered	Output argument that's set to 'true' if the parameters were changed according to the filtering method.

Returns:: false if there was an irrecoverable failure, true otherwise.

Implements stomp_moveit::noisy_filters::StompNoisyFilter.

Definition at line 146 of file joint_limits.cpp.

virtual std::string stomp_moveit::noisy_filters::JointLimits::getGroupName ( ) const [inline, override, virtual]

Reimplemented from stomp_moveit::noisy_filters::StompNoisyFilter.

Definition at line 66 of file joint_limits.h.

virtual std::string stomp_moveit::noisy_filters::JointLimits::getName ( ) const [inline, override, virtual]

Reimplemented from stomp_moveit::noisy_filters::StompNoisyFilter.

Definition at line 71 of file joint_limits.h.

bool stomp_moveit::noisy_filters::JointLimits::initialize	(	moveit::core::RobotModelConstPtr	robot_model_ptr,
		const std::string &	group_name,
		const XmlRpc::XmlRpcValue &	config
	)		`[override, virtual]`

see base class for documentation

Implements stomp_moveit::noisy_filters::StompNoisyFilter.

Definition at line 51 of file joint_limits.cpp.

bool stomp_moveit::noisy_filters::JointLimits::setMotionPlanRequest	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const moveit_msgs::MotionPlanRequest &	req,
		const stomp_core::StompConfiguration &	config,
		moveit_msgs::MoveItErrorCodes &	error_code
	)		`[override, virtual]`