The MoveIt interface to OMPL. More...
Classes | |
| class | ConstrainedGoalSampler |
| class | ConstrainedSampler |
| struct | ConstraintApproximation |
| struct | ConstraintApproximationConstructionOptions |
| struct | ConstraintApproximationConstructionResults |
| class | ConstraintApproximationStateSampler |
| class | ConstraintsLibrary |
| class | GoalSampleableRegionMux |
| class | JointModelStateSpace |
| class | JointModelStateSpaceFactory |
| class | ModelBasedPlanningContext |
| struct | ModelBasedPlanningContextSpecification |
| class | ModelBasedStateSpace |
| class | ModelBasedStateSpaceFactory |
| struct | ModelBasedStateSpaceSpecification |
| class | OMPLInterface |
| class | OMPLPlannerManager |
| class | PlanningContextManager |
| class | PoseModelStateSpace |
| class | PoseModelStateSpaceFactory |
| class | ProjectionEvaluatorJointValue |
| class | ProjectionEvaluatorLinkPose |
| struct | same_shared_ptr< T, boost::shared_ptr< Wrapped > > |
| class | StateValidityChecker |
| An interface for a OMPL state validity checker. More... | |
| class | TSStateStorage |
| class | ValidConstrainedSampler |
Typedefs | |
| typedef boost::function < ob::PlannerPtr(const ompl::base::SpaceInformationPtr &si, const std::string &name, const ModelBasedPlanningContextSpecification &spec)> | ConfiguredPlannerAllocator |
| typedef boost::function < ConfiguredPlannerAllocator(const std::string &planner_type)> | ConfiguredPlannerSelector |
| typedef std::pair< std::vector < std::size_t >, std::map < std::size_t, std::pair < std::size_t, std::size_t > > > | ConstrainedStateMetadata |
| typedef ompl::base::StateStorageWithMetadata < ConstrainedStateMetadata > | ConstraintApproximationStateStorage |
| typedef boost::function< bool(const ompl::base::State *, const ompl::base::State *) | ConstraintStateStorageOrderFn ) |
| typedef boost::function < double(const ompl::base::State *state1, const ompl::base::State *state2) | DistanceFunction ) |
| typedef boost::function< bool(const ompl::base::State *from, const ompl::base::State *to, const double t, ompl::base::State *state) | InterpolationFunction ) |
| typedef same_shared_ptr < ModelBasedStateSpace, ompl::base::StateSpacePtr > ::type | ModelBasedStateSpacePtr |
Functions | |
| ompl::base::StateSamplerPtr | allocConstraintApproximationStateSampler (const ob::StateSpace *space, const std::vector< int > &expected_signature, const ConstraintApproximationStateStorage *state_storage, std::size_t milestones) |
| bool | interpolateUsingStoredStates (const ConstraintApproximationStateStorage *state_storage, const ob::State *from, const ob::State *to, const double t, ob::State *state) |
| MOVEIT_CLASS_FORWARD (ModelBasedStateSpaceFactory) | |
| MOVEIT_CLASS_FORWARD (ValidStateSampler) | |
| MOVEIT_CLASS_FORWARD (ModelBasedPlanningContext) | |
| MOVEIT_CLASS_FORWARD (ConstraintsLibrary) | |
The MoveIt interface to OMPL.
| typedef boost::function<ob::PlannerPtr(const ompl::base::SpaceInformationPtr& si, const std::string& name, const ModelBasedPlanningContextSpecification& spec)> ompl_interface::ConfiguredPlannerAllocator |
Definition at line 61 of file model_based_planning_context.h.
| typedef boost::function<ConfiguredPlannerAllocator(const std::string& planner_type)> ompl_interface::ConfiguredPlannerSelector |
Definition at line 65 of file model_based_planning_context.h.
| typedef std::pair<std::vector<std::size_t>, std::map<std::size_t, std::pair<std::size_t, std::size_t> > > ompl_interface::ConstrainedStateMetadata |
Definition at line 50 of file constraints_library.h.
| typedef ompl::base::StateStorageWithMetadata< std::vector< std::size_t > > ompl_interface::ConstraintApproximationStateStorage |
Definition at line 51 of file constraints_library.h.
| typedef boost::function<bool(const ompl::base::State*, const ompl::base::State*) ompl_interface::ConstraintStateStorageOrderFn) |
Definition at line 50 of file constraint_approximations.h.
| typedef boost::function<double(const ompl::base::State* state1, const ompl::base::State* state2) ompl_interface::DistanceFunction) |
Definition at line 52 of file model_based_state_space.h.
| typedef boost::function<bool(const ompl::base::State* from, const ompl::base::State* to, const double t, ompl::base::State* state) ompl_interface::InterpolationFunction) |
Definition at line 51 of file model_based_state_space.h.
| typedef same_shared_ptr<ModelBasedStateSpace, ompl::base::StateSpacePtr>::type ompl_interface::ModelBasedStateSpacePtr |
Definition at line 272 of file model_based_state_space.h.
| ompl::base::StateSamplerPtr ompl_interface::allocConstraintApproximationStateSampler | ( | const ob::StateSpace * | space, |
| const std::vector< int > & | expected_signature, | ||
| const ConstraintApproximationStateStorage * | state_storage, | ||
| std::size_t | milestones | ||
| ) |
Definition at line 188 of file constraints_library.cpp.
| bool ompl_interface::interpolateUsingStoredStates | ( | const ConstraintApproximationStateStorage * | state_storage, |
| const ob::State * | from, | ||
| const ob::State * | to, | ||
| const double | t, | ||
| ob::State * | state | ||
| ) |
Definition at line 146 of file constraints_library.cpp.
| ompl_interface::MOVEIT_CLASS_FORWARD | ( | ModelBasedStateSpaceFactory | ) |
| ompl_interface::MOVEIT_CLASS_FORWARD | ( | ValidStateSampler | ) |
| ompl_interface::MOVEIT_CLASS_FORWARD | ( | ModelBasedPlanningContext | ) |
| ompl_interface::MOVEIT_CLASS_FORWARD | ( | ConstraintsLibrary | ) |