stomp_planner.cpp File Reference

This defines the stomp planner for MoveIt. More...

#include <ros/ros.h>
#include <moveit/robot_state/conversions.h>
#include <stomp_moveit/stomp_planner.h>
#include <class_loader/class_loader.hpp>
#include <stomp_core/utils.h>
#include <moveit/trajectory_processing/iterative_time_parameterization.h>
#include <stomp_moveit/utils/kinematics.h>
#include <stomp_moveit/utils/polynomial.h>

Include dependency graph for stomp_planner.cpp:

Go to the source code of this file.

Namespaces
	stomp_moveit

Functions
bool	parseConfig (XmlRpc::XmlRpcValue config, const moveit::core::JointModelGroup *group, stomp_core::StompConfiguration &stomp_config)
	Parses a XmlRpcValue and populates a StompComfiguration structure. More...

Variables
static const std::string	DEBUG_NS = "stomp_planner"
static const std::string	DESCRIPTION = "STOMP"
static int const	IK_ATTEMPTS = 4
static int const	IK_TIMEOUT = 0.005
static const double	MAX_START_DISTANCE_THRESH = 0.5
static const double	TIMEOUT_INTERVAL = 0.5

Detailed Description

This defines the stomp planner for MoveIt.

Author

Jorge Nicho

Date

April 4, 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 stomp_planner.cpp.

Function Documentation

bool parseConfig	(	XmlRpc::XmlRpcValue	config,
		const moveit::core::JointModelGroup *	group,
		stomp_core::StompConfiguration &	stomp_config
	)

Parses a XmlRpcValue and populates a StompComfiguration structure.

Parameters

config	The XmlRpcValue of stomp configuration parameters
group	The moveit planning group
stomp_config	The stomp configuration structure

Returns

True if successfully parsed, otherwise false.

Definition at line 49 of file stomp_planner.cpp.