Class ChompOptimizer

• Defined in File chomp_optimizer.hpp

Class Documentation

class ChompOptimizer

Public Functions

ChompOptimizer(ChompTrajectory *trajectory, const planning_scene::PlanningSceneConstPtr &planning_scene, const std::string &planning_group, const ChompParameters *parameters, const moveit::core::RobotState &start_state)

virtual ~ChompOptimizer()

bool optimize()

Optimizes the CHOMP cost function and tries to find an optimal path

Returns:

true if an optimal collision free path is found else returns false

inline void destroy()

inline bool isInitialized() const

inline bool isCollisionFree() const