collision_check.cpp File Reference

This defines a cost function for collision checking. More...

#include <ros/console.h>
#include <pluginlib/class_list_macros.h>
#include <moveit/robot_state/conversions.h>
#include "stomp_moveit/cost_functions/collision_check.h"

Include dependency graph for collision_check.cpp:

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Namespaces
	stomp_moveit

Functions
static void	applyKernelSmoothing (std::size_t window_size, const Eigen::VectorXd &data, Eigen::VectorXd &smoothed)
	Convenience method that propagates the cost value at center to the window to the adjacent points. More...

Variables
static const int	MIN_KERNEL_WINDOW_SIZE = 3

Detailed Description

This defines a cost function for collision checking.

Author

Jorge Nicho

Date

March 30, 2016

Version

TODO

Bug:

No known bugs

Copyright

Copyright (c) 2016, Southwest Research Institute

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Definition in file collision_check.cpp.

Function Documentation

static void applyKernelSmoothing ( std::size_t  window_size, const Eigen::VectorXd &  data, Eigen::VectorXd &  smoothed  )

static

Convenience method that propagates the cost value at center to the window to the adjacent points.

Parameters

window_size	Size of the kernel, must be less than the size of the 'data' array.
data	The original data vector
smoothed	The smoothed data after applying the kernel.

Definition at line 41 of file collision_check.cpp.