tool_goal_pose.h File Reference

This defines a cost function for tool goal pose. More...

#include <Eigen/Sparse>
#include <moveit/robot_model/robot_model.h>
#include <stomp_moveit/utils/kinematics.h>
#include "stomp_moveit/cost_functions/stomp_cost_function.h"

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Classes
class	stomp_moveit::cost_functions::ToolGoalPose
	Evaluates the cost of the goal pose by determining how far the Cartesian tool pose is from the desired under-constrained task manifold. More...

Namespaces
	stomp_moveit
	stomp_moveit::cost_functions

Detailed Description

This defines a cost function for tool goal pose.

Author

Jorge Nicho

Date

June 2, 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 tool_goal_pose.h.