#include <model_based_state_space.h>

Inheritance diagram for ompl_interface::ModelBasedStateSpace:

Classes
class	StateType
Public Member Functions
virtual ompl::base::StateSamplerPtr	allocDefaultStateSampler () const
virtual ompl::base::State *	allocState () const
virtual void	copyJointToOMPLState (ompl::base::State state, const robot_state::RobotState &robot_state, const moveit::core::JointModel joint_model, int ompl_state_joint_index) const
	Copy a single joint's values (which might have multiple variables) from a MoveIt! robot_state to an OMPL state.
virtual void	copyState (ompl::base::State destination, const ompl::base::State source) const
virtual void	copyToOMPLState (ompl::base::State *state, const robot_state::RobotState &rstate) const
	Copy the data from a set of joint states to an OMPL state.
virtual void	copyToRobotState (robot_state::RobotState &rstate, const ompl::base::State *state) const
	Copy the data from an OMPL state to a set of joint states.
virtual void	deserialize (ompl::base::State state, const void serialization) const
virtual double	distance (const ompl::base::State state1, const ompl::base::State state2) const
virtual void	enforceBounds (ompl::base::State *state) const
virtual bool	equalStates (const ompl::base::State state1, const ompl::base::State state2) const
virtual void	freeState (ompl::base::State *state) const
virtual unsigned int	getDimension () const
const robot_model::JointModelGroup *	getJointModelGroup () const
const std::string &	getJointModelGroupName () const
const robot_model::JointBoundsVector &	getJointsBounds () const
virtual double	getMaximumExtent () const
virtual double	getMeasure () const
const robot_model::RobotModelConstPtr &	getRobotModel () const
virtual unsigned int	getSerializationLength () const
const ModelBasedStateSpaceSpecification &	getSpecification () const
double	getTagSnapToSegment () const
virtual double *	getValueAddressAtIndex (ompl::base::State *state, const unsigned int index) const
virtual void	interpolate (const ompl::base::State from, const ompl::base::State to, const double t, ompl::base::State *state) const
	ModelBasedStateSpace (const ModelBasedStateSpaceSpecification &spec)
virtual void	printSettings (std::ostream &out) const
virtual void	printState (const ompl::base::State *state, std::ostream &out) const
virtual bool	satisfiesBounds (const ompl::base::State *state) const
virtual void	serialize (void serialization, const ompl::base::State state) const
void	setDistanceFunction (const DistanceFunction &fun)
void	setInterpolationFunction (const InterpolationFunction &fun)
virtual void	setPlanningVolume (double minX, double maxX, double minY, double maxY, double minZ, double maxZ)
	Set the planning volume for the possible SE2 and/or SE3 components of the state space.
void	setTagSnapToSegment (double snap)
virtual	~ModelBasedStateSpace ()
Protected Attributes
DistanceFunction	distance_function_
InterpolationFunction	interpolation_function_
std::vector < robot_model::JointModel::Bounds >	joint_bounds_storage_
std::vector< const robot_model::JointModel * >	joint_model_vector_
ModelBasedStateSpaceSpecification	spec_
size_t	state_values_size_
double	tag_snap_to_segment_
double	tag_snap_to_segment_complement_
unsigned int	variable_count_

Detailed Description

Definition at line 74 of file model_based_state_space.h.

Constructor & Destructor Documentation

ompl_interface::ModelBasedStateSpace::ModelBasedStateSpace ( const ModelBasedStateSpaceSpecification & spec )

expose parameters

Definition at line 40 of file model_based_state_space.cpp.

ompl_interface::ModelBasedStateSpace::~ModelBasedStateSpace ( ) [virtual]

Definition at line 77 of file model_based_state_space.cpp.

Member Function Documentation

ompl::base::StateSamplerPtr ompl_interface::ModelBasedStateSpace::allocDefaultStateSampler ( ) const [virtual]

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 248 of file model_based_state_space.cpp.

ompl::base::State * ompl_interface::ModelBasedStateSpace::allocState ( ) const [virtual]

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 99 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::copyJointToOMPLState	(	ompl::base::State *	state,
		const robot_state::RobotState &	robot_state,
		const moveit::core::JointModel *	joint_model,
		int	ompl_state_joint_index
	)		const `[virtual]`

Copy a single joint's values (which might have multiple variables) from a MoveIt! robot_state to an OMPL state.

Parameters:

state	- output OMPL state with single joint modified
robot_state	- input MoveIt! state to get the joint value from
joint_model	- the joint to copy values of
ompl_state_joint_index	- the index of the joint in the ompl state (passed in for efficiency, you should cache this index) e.g. ompl_state_joint_index = joint_model_group_->getVariableGroupIndex("virtual_joint");

Definition at line 333 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::copyState	(	ompl::base::State *	destination,
		const ompl::base::State *	source
	)		const `[virtual]`

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 112 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::copyToOMPLState	(	ompl::base::State *	state,
		const robot_state::RobotState &	rstate
	)		const `[virtual]`

Copy the data from a set of joint states to an OMPL state.

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 325 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::copyToRobotState	(	robot_state::RobotState &	rstate,
		const ompl::base::State *	state
	)		const `[virtual]`

Copy the data from an OMPL state to a set of joint states.

Definition at line 318 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::deserialize	(	ompl::base::State *	state,
		const void *	serialization
	)		const `[virtual]`

Definition at line 132 of file model_based_state_space.cpp.

double ompl_interface::ModelBasedStateSpace::distance	(	const ompl::base::State *	state1,
		const ompl::base::State *	state2
	)		const `[virtual]`

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 166 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::enforceBounds ( ompl::base::State * state ) const [virtual]

Definition at line 185 of file model_based_state_space.cpp.

bool ompl_interface::ModelBasedStateSpace::equalStates	(	const ompl::base::State *	state1,
		const ompl::base::State *	state2
	)		const `[virtual]`

Definition at line 175 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::freeState ( ompl::base::State * state ) const [virtual]

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 106 of file model_based_state_space.cpp.

unsigned int ompl_interface::ModelBasedStateSpace::getDimension ( ) const [virtual]

Definition at line 139 of file model_based_state_space.cpp.

const robot_model::JointModelGroup* ompl_interface::ModelBasedStateSpace::getJointModelGroup ( ) const [inline]

Definition at line 208 of file model_based_state_space.h.

const std::string& ompl_interface::ModelBasedStateSpace::getJointModelGroupName ( ) const [inline]

Definition at line 213 of file model_based_state_space.h.

const robot_model::JointBoundsVector& ompl_interface::ModelBasedStateSpace::getJointsBounds ( ) const [inline]

Definition at line 229 of file model_based_state_space.h.

double ompl_interface::ModelBasedStateSpace::getMaximumExtent ( ) const [virtual]

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 147 of file model_based_state_space.cpp.

double ompl_interface::ModelBasedStateSpace::getMeasure ( ) const [virtual]

Definition at line 152 of file model_based_state_space.cpp.

const robot_model::RobotModelConstPtr& ompl_interface::ModelBasedStateSpace::getRobotModel ( ) const [inline]

Definition at line 203 of file model_based_state_space.h.

unsigned int ompl_interface::ModelBasedStateSpace::getSerializationLength ( ) const [virtual]

Definition at line 121 of file model_based_state_space.cpp.

const ModelBasedStateSpaceSpecification& ompl_interface::ModelBasedStateSpace::getSpecification ( ) const [inline]

Definition at line 218 of file model_based_state_space.h.

double ompl_interface::ModelBasedStateSpace::getTagSnapToSegment ( ) const

Definition at line 81 of file model_based_state_space.cpp.

double * ompl_interface::ModelBasedStateSpace::getValueAddressAtIndex	(	ompl::base::State *	state,
		const unsigned int	index
	)		const `[virtual]`

Definition at line 218 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::interpolate	(	const ompl::base::State *	from,
		const ompl::base::State *	to,
		const double	t,
		ompl::base::State *	state
	)		const `[virtual]`

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 196 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::printSettings ( std::ostream & out ) const [virtual]

Definition at line 287 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::printState	(	const ompl::base::State *	state,
		std::ostream &	out
	)		const `[virtual]`

Definition at line 292 of file model_based_state_space.cpp.

bool ompl_interface::ModelBasedStateSpace::satisfiesBounds ( const ompl::base::State * state ) const [virtual]

Definition at line 190 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::serialize	(	void *	serialization,
		const ompl::base::State *	state
	)		const `[virtual]`

Definition at line 126 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::setDistanceFunction ( const DistanceFunction & fun ) [inline]

Definition at line 177 of file model_based_state_space.h.

void ompl_interface::ModelBasedStateSpace::setInterpolationFunction ( const InterpolationFunction & fun ) [inline]

Definition at line 172 of file model_based_state_space.h.

void ompl_interface::ModelBasedStateSpace::setPlanningVolume	(	double	minX,
		double	maxX,
		double	minY,
		double	maxY,
		double	minZ,
		double	maxZ
	)		`[virtual]`