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. More... | |
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. More... | |
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 | |
Public Member Functions inherited from stomp_moveit::update_filters::StompUpdateFilter | |
virtual void | postIteration (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, double cost, const Eigen::MatrixXd ¶meters) |
Called by STOMP at the end of each iteration. More... | |
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.
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overridevirtual |
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.
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overridevirtual |
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.