Publishes rviz markers to visualize the optimized trajectory. More...
#include <trajectory_visualization.h>
Public Member Functions | |
virtual bool | configure (const XmlRpc::XmlRpcValue &config) override |
see base class for documentation | |
virtual void | done (bool success, int total_iterations, double final_cost, const Eigen::MatrixXd ¶meters) override |
Called by the Stomp at the end of the optimization process. | |
virtual bool | filter (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, const Eigen::MatrixXd ¶meters, Eigen::MatrixXd &updates, bool &filtered) override |
Publishes rviz markers to visualize the optimized trajectory at each iteration. | |
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 | |
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 | |
TrajectoryVisualization () | |
virtual | ~TrajectoryVisualization () |
Protected Attributes | |
std_msgs::ColorRGBA | error_rgb_ |
std::string | group_name_ |
double | line_width_ |
std::string | marker_namespace_ |
std::string | marker_topic_ |
std::string | name_ |
ros::NodeHandle | nh_ |
bool | publish_intermediate_ |
std_msgs::ColorRGBA | rgb_ |
moveit::core::RobotModelConstPtr | robot_model_ |
moveit::core::RobotStatePtr | state_ |
Eigen::MatrixXd | tool_traj_line_ |
visualization_msgs::Marker | tool_traj_marker_ |
ros::Publisher | viz_pub_ |
Publishes rviz markers to visualize the optimized trajectory.
Definition at line 49 of file trajectory_visualization.h.
stomp_moveit::update_filters::TrajectoryVisualization::TrajectoryVisualization | ( | ) |
Definition at line 107 of file trajectory_visualization.cpp.
stomp_moveit::update_filters::TrajectoryVisualization::~TrajectoryVisualization | ( | ) | [virtual] |
Definition at line 117 of file trajectory_visualization.cpp.
bool stomp_moveit::update_filters::TrajectoryVisualization::configure | ( | const XmlRpc::XmlRpcValue & | config | ) | [override, virtual] |
see base class for documentation
Implements stomp_moveit::update_filters::StompUpdateFilter.
Definition at line 139 of file trajectory_visualization.cpp.
void stomp_moveit::update_filters::TrajectoryVisualization::done | ( | bool | success, |
int | total_iterations, | ||
double | final_cost, | ||
const Eigen::MatrixXd & | parameters | ||
) | [override, virtual] |
Called by the Stomp at the end of the optimization process.
success | Whether the optimization succeeded |
total_iterations | Number of iterations used |
final_cost | The cost value after optimizing. |
parameters | The parameters generated at the end of current iteration [num_dimensions x num_timesteps] |
Reimplemented from stomp_moveit::update_filters::StompUpdateFilter.
Definition at line 243 of file trajectory_visualization.cpp.
bool stomp_moveit::update_filters::TrajectoryVisualization::filter | ( | std::size_t | start_timestep, |
std::size_t | num_timesteps, | ||
int | iteration_number, | ||
const Eigen::MatrixXd & | parameters, | ||
Eigen::MatrixXd & | updates, | ||
bool & | filtered | ||
) | [override, virtual] |
Publishes rviz markers to visualize the optimized trajectory at each iteration.
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 |
parameters | The parameters generated in the previous iteration [num_dimensions x num_timesteps] |
updates | The updates to be applied to the parameters [num_dimensions x num_timesteps] |
filtered | Always false as this filter never changes the updates values. |
Implements stomp_moveit::update_filters::StompUpdateFilter.
Definition at line 218 of file trajectory_visualization.cpp.
virtual std::string stomp_moveit::update_filters::TrajectoryVisualization::getGroupName | ( | ) | const [inline, override, virtual] |
Reimplemented from stomp_moveit::update_filters::StompUpdateFilter.
Definition at line 103 of file trajectory_visualization.h.
virtual std::string stomp_moveit::update_filters::TrajectoryVisualization::getName | ( | ) | const [inline, override, virtual] |
Reimplemented from stomp_moveit::update_filters::StompUpdateFilter.
Definition at line 97 of file trajectory_visualization.h.
bool stomp_moveit::update_filters::TrajectoryVisualization::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::update_filters::StompUpdateFilter.
Definition at line 122 of file trajectory_visualization.cpp.
bool stomp_moveit::update_filters::TrajectoryVisualization::setMotionPlanRequest | ( | const planning_scene::PlanningSceneConstPtr & | planning_scene, |
const moveit_msgs::MotionPlanRequest & | req, | ||
const stomp_core::StompConfiguration & | config, | ||
moveit_msgs::MoveItErrorCodes & | error_code | ||
) | [override, virtual] |
see base class for documentation
Implements stomp_moveit::update_filters::StompUpdateFilter.
Definition at line 182 of file trajectory_visualization.cpp.
std_msgs::ColorRGBA stomp_moveit::update_filters::TrajectoryVisualization::error_rgb_ [protected] |
Definition at line 126 of file trajectory_visualization.h.
std::string stomp_moveit::update_filters::TrajectoryVisualization::group_name_ [protected] |
Definition at line 115 of file trajectory_visualization.h.
double stomp_moveit::update_filters::TrajectoryVisualization::line_width_ [protected] |
Definition at line 124 of file trajectory_visualization.h.
std::string stomp_moveit::update_filters::TrajectoryVisualization::marker_namespace_ [protected] |
Definition at line 129 of file trajectory_visualization.h.
std::string stomp_moveit::update_filters::TrajectoryVisualization::marker_topic_ [protected] |
Definition at line 128 of file trajectory_visualization.h.
std::string stomp_moveit::update_filters::TrajectoryVisualization::name_ [protected] |
Definition at line 112 of file trajectory_visualization.h.
ros::NodeHandle stomp_moveit::update_filters::TrajectoryVisualization::nh_ [protected] |
Definition at line 120 of file trajectory_visualization.h.
bool stomp_moveit::update_filters::TrajectoryVisualization::publish_intermediate_ [protected] |
Definition at line 127 of file trajectory_visualization.h.
std_msgs::ColorRGBA stomp_moveit::update_filters::TrajectoryVisualization::rgb_ [protected] |
Definition at line 125 of file trajectory_visualization.h.
moveit::core::RobotModelConstPtr stomp_moveit::update_filters::TrajectoryVisualization::robot_model_ [protected] |
Definition at line 116 of file trajectory_visualization.h.
moveit::core::RobotStatePtr stomp_moveit::update_filters::TrajectoryVisualization::state_ [protected] |
Definition at line 117 of file trajectory_visualization.h.
Eigen::MatrixXd stomp_moveit::update_filters::TrajectoryVisualization::tool_traj_line_ [protected] |
Definition at line 132 of file trajectory_visualization.h.
visualization_msgs::Marker stomp_moveit::update_filters::TrajectoryVisualization::tool_traj_marker_ [protected] |
Definition at line 133 of file trajectory_visualization.h.
ros::Publisher stomp_moveit::update_filters::TrajectoryVisualization::viz_pub_ [protected] |
Definition at line 121 of file trajectory_visualization.h.