Classes | Functions | Variables
chomp Namespace Reference

Classes

class  ChompCost
 Represents the smoothness cost for CHOMP, for a single joint. More...
 
class  ChompOptimizer
 
class  ChompParameters
 
class  ChompPlanner
 
class  ChompTrajectory
 Represents a discretized joint-space trajectory for CHOMP. More...
 
class  MultivariateGaussian
 Generates samples from a multivariate gaussian distribution. More...
 

Functions

double getRandomDouble ()
 
static void jointStateToArray (const moveit::core::RobotModelConstPtr &kmodel, const sensor_msgs::JointState &joint_state, const std::string &planning_group_name, Eigen::MatrixXd::RowXpr joint_array)
 
static double normalizeAngle (double angle)
 
static double normalizeAnglePositive (double angle)
 
static double shortestAngularDistance (double start, double end)
 

Variables

static const int DIFF_RULE_LENGTH = 7
 
static const double DIFF_RULES [3][DIFF_RULE_LENGTH]
 

Function Documentation

double chomp::getRandomDouble ( )

Definition at line 49 of file chomp_optimizer.cpp.

static void chomp::jointStateToArray ( const moveit::core::RobotModelConstPtr &  kmodel,
const sensor_msgs::JointState &  joint_state,
const std::string &  planning_group_name,
Eigen::MatrixXd::RowXpr  joint_array 
)
inlinestatic

Definition at line 55 of file chomp_utils.h.

static double chomp::normalizeAngle ( double  angle)
inlinestatic

Definition at line 80 of file chomp_utils.h.

static double chomp::normalizeAnglePositive ( double  angle)
inlinestatic

Definition at line 75 of file chomp_utils.h.

static double chomp::shortestAngularDistance ( double  start,
double  end 
)
inlinestatic

Definition at line 88 of file chomp_utils.h.

Variable Documentation

const int chomp::DIFF_RULE_LENGTH = 7
static

Definition at line 46 of file chomp_utils.h.

const double chomp::DIFF_RULES[3][DIFF_RULE_LENGTH]
static
Initial value:
= {
{ 0, 0, -2 / 6.0, -3 / 6.0, 6 / 6.0, -1 / 6.0, 0 },
{ 0, -1 / 12.0, 16 / 12.0, -30 / 12.0, 16 / 12.0, -1 / 12.0, 0 },
{ 0, 1 / 12.0, -17 / 12.0, 46 / 12.0, -46 / 12.0, 17 / 12.0, -1 / 12.0 }
}

Definition at line 49 of file chomp_utils.h.



chomp_motion_planner
Author(s): Gil Jones , Mrinal Kalakrishnan
autogenerated on Sun Oct 18 2020 13:17:08