#include <kinematics_cache.h>

Inheritance diagram for kinematics_cache::KinematicsCache:

Classes
struct	Options

Public Member Functions
bool	addToCache (const geometry_msgs::Pose &pose, const std::vector< double > &joint_values, bool overwrite=false)
	Add a new solution to the cache at the given location. More...

bool	addToCache (const geometry_msgs::Pose &pose, const std::vector< double > &joint_values, bool overwrite=false)
	Add a new solution to the cache at the given location. More...

bool	generateCacheMap (double timeout)
	Generate the cache map spending timeout (seconds) on the generation process) More...

bool	generateCacheMap (double timeout)
	Generate the cache map spending timeout (seconds) on the generation process) More...

const Options &	getCacheParameters () const
	Return the cache parameters used for cache construction. More...

const Options &	getCacheParameters () const
	Return the cache parameters used for cache construction. More...

const std::string	getGroupName ()

const std::string &	getGroupName () const

std::pair< double, double >	getMinMaxSquaredDistance ()

std::pair< double, double >	getMinMaxSquaredDistance ()

const planning_models::RobotModelConstPtr &	getModelInstance () const
	Return the instance of the kinematics model. More...

const robot_model::RobotModelConstPtr &	getModelInstance () const
	Return the instance of the kinematics model. More...

bool	getNumSolutions (const geometry_msgs::Pose &pose, unsigned int &num_solutions) const
	Get number of candidate solutions for a particular pose. More...

bool	getNumSolutions (const geometry_msgs::Pose &pose, unsigned int &num_solutions) const
	Get number of candidate solutions for a particular pose. More...

bool	getSolution (const geometry_msgs::Pose &pose, unsigned int solution_index, std::vector< double > &solution) const
	Get a candidate solution for a particular pose. Note that the pose will be projected onto the grid used in the caching process. More...

bool	getSolution (const geometry_msgs::Pose &pose, unsigned int solution_index, std::vector< double > &solution) const
	Get a candidate solution for a particular pose. Note that the pose will be projected onto the grid used in the caching process. More...

bool	getSolutions (const geometry_msgs::Pose &pose, std::vector< std::vector< double > > &solutions) const
	Get all candidate solutions for a particular pose. Note that the pose will be projected onto the grid used in the caching process. The size of the solutions vector MUST be pre-allocated to num_solutions (see getNumSolutions) More...

bool	getSolutions (const geometry_msgs::Pose &pose, std::vector< std::vector< double > > &solutions) const
	Get all candidate solutions for a particular pose. Note that the pose will be projected onto the grid used in the caching process. The size of the solutions vector MUST be pre-allocated to num_solutions (see getNumSolutions) More...

const kinematics::KinematicsBaseConstPtr &	getSolverInstance () const
	Return the instance of the kinematics solver. More...

const kinematics::KinematicsBaseConstPtr &	getSolverInstance () const
	Return the instance of the kinematics solver. More...

bool	initialize (kinematics::KinematicsBaseConstPtr &solver, const planning_models::RobotModelConstPtr &kinematic_model, const KinematicsCache::Options &opt)
	Initialize the cache class. More...

bool	initialize (kinematics::KinematicsBaseConstPtr &solver, const robot_model::RobotModelConstPtr &kinematic_model, const KinematicsCache::Options &opt)
	Initialize the cache class. More...

	KinematicsCache ()

	KinematicsCache ()

bool	readFromFile (const std::string &filename)

bool	readFromFile (const std::string &filename)

bool	writeToFile (const std::string &filename)

bool	writeToFile (const std::string &filename)

Private Member Functions
bool	getGridIndex (const geometry_msgs::Pose &pose, unsigned int &grid_index) const
	Get the grid index for a given pose. More...

bool	getGridIndex (const geometry_msgs::Pose &pose, unsigned int &grid_index) const
	Get the grid index for a given pose. More...

std::vector< double >	getSolution (unsigned int grid_index, unsigned int solution_index) const
	Get a solution for the grid index given the solution index. More...

std::vector< double >	getSolution (unsigned int grid_index, unsigned int solution_index) const
	Get a solution for the grid index given the solution index. More...

unsigned int	getSolutionLocation (unsigned int &grid_index, unsigned int &solution_index) const
	Get the location of a solution given the grid index and solution index. More...

unsigned int	getSolutionLocation (unsigned int &grid_index, unsigned int &solution_index) const
	Get the location of a solution given the grid index and solution index. More...

void	setup (const KinematicsCache::Options &opt)
	Setup the cache. More...

void	setup (const KinematicsCache::Options &opt)
	Setup the cache. More...

void	updateDistances (const geometry_msgs::Pose &pose)

void	updateDistances (const geometry_msgs::Pose &pose)

Private Attributes
geometry_msgs::Point	cache_origin_

double	cache_resolution_x_

double	cache_resolution_y_

double	cache_resolution_z_

unsigned int	cache_size_x_

unsigned int	cache_size_y_

unsigned int	cache_size_z_

const planning_models::RobotModel::JointModelGroup *	joint_model_group_

const robot_model::JointModelGroup *	joint_model_group_

boost::shared_ptr< robot_state::JointStateGroup >	joint_state_group_

boost::shared_ptr< planning_models::RobotState *::JointStateGroup >	joint_state_group_

planning_models::RobotModelConstPtr	kinematic_model_

robot_model::RobotModelConstPtr	kinematic_model_

planning_models::RobotState *Ptr	kinematic_state_

robot_state::RobotStatePtr	kinematic_state_

unsigned int	kinematics_cache_points_with_solution_

unsigned int	kinematics_cache_size_

std::vector< double >	kinematics_cache_vector_

kinematics::KinematicsBaseConstPtr	kinematics_solver_

unsigned int	max_solutions_per_grid_location_

double	max_squared_distance_

double	min_squared_distance_

std::vector< unsigned int >	num_solutions_vector_

KinematicsCache::Options	options_

unsigned int	size_grid_node_

unsigned int	solution_dimension_

Detailed Description

Definition at line 49 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

Constructor & Destructor Documentation

kinematics_cache::KinematicsCache::KinematicsCache ( )

Definition at line 44 of file v1/kinematics_cache/src/kinematics_cache.cpp.

kinematics_cache::KinematicsCache::KinematicsCache ( )

Member Function Documentation

bool kinematics_cache::KinematicsCache::addToCache	(	const geometry_msgs::Pose &	pose,
		const std::vector< double > &	joint_values,
		bool	overwrite = `false`
	)

Add a new solution to the cache at the given location.

Definition at line 119 of file v1/kinematics_cache/src/kinematics_cache.cpp.

bool kinematics_cache::KinematicsCache::addToCache	(	const geometry_msgs::Pose &	pose,
		const std::vector< double > &	joint_values,
		bool	overwrite = `false`
	)

Add a new solution to the cache at the given location.

bool kinematics_cache::KinematicsCache::generateCacheMap ( double timeout )

Generate the cache map spending timeout (seconds) on the generation process)

Parameters

timeout Time (in seconds) to be spent on generating the cache

Returns: True if cache map generation was successful

Definition at line 88 of file v1/kinematics_cache/src/kinematics_cache.cpp.

bool kinematics_cache::KinematicsCache::generateCacheMap ( double timeout )

Generate the cache map spending timeout (seconds) on the generation process)

Parameters

timeout Time (in seconds) to be spent on generating the cache

Returns: True if cache map generation was successful

const Options& kinematics_cache::KinematicsCache::getCacheParameters ( ) const

inline

Return the cache parameters used for cache construction.

Definition at line 122 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

const Options& kinematics_cache::KinematicsCache::getCacheParameters ( ) const

inline

Return the cache parameters used for cache construction.

Definition at line 122 of file v2/kinematics_cache/include/moveit/kinematics_cache/kinematics_cache.h.

bool kinematics_cache::KinematicsCache::getGridIndex	(	const geometry_msgs::Pose &	pose,
		unsigned int &	grid_index
	)		const

private

Get the grid index for a given pose.

bool kinematics_cache::KinematicsCache::getGridIndex	(	const geometry_msgs::Pose &	pose,
		unsigned int &	grid_index
	)		const

private

Get the grid index for a given pose.

Definition at line 150 of file v1/kinematics_cache/src/kinematics_cache.cpp.

const std::string kinematics_cache::KinematicsCache::getGroupName ( )

inline

Definition at line 127 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

const std::string& kinematics_cache::KinematicsCache::getGroupName ( ) const

inline

Definition at line 127 of file v2/kinematics_cache/include/moveit/kinematics_cache/kinematics_cache.h.

std::pair< double, double > kinematics_cache::KinematicsCache::getMinMaxSquaredDistance ( )

Definition at line 363 of file v1/kinematics_cache/src/kinematics_cache.cpp.

std::pair<double, double> kinematics_cache::KinematicsCache::getMinMaxSquaredDistance ( )

const robot_model::RobotModelConstPtr& kinematics_cache::KinematicsCache::getModelInstance ( ) const

inline

Return the instance of the kinematics model.

Definition at line 116 of file v2/kinematics_cache/include/moveit/kinematics_cache/kinematics_cache.h.

const planning_models::RobotModelConstPtr& kinematics_cache::KinematicsCache::getModelInstance ( ) const

inline

Return the instance of the kinematics model.

Definition at line 116 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

bool kinematics_cache::KinematicsCache::getNumSolutions	(	const geometry_msgs::Pose &	pose,
		unsigned int &	num_solutions
	)		const

Get number of candidate solutions for a particular pose.

Parameters

pose	The desired pose
solution_index	The solution index
solution	The actual solution

Returns: False if desired pose lies outside the grid

Definition at line 176 of file v1/kinematics_cache/src/kinematics_cache.cpp.

bool kinematics_cache::KinematicsCache::getNumSolutions	(	const geometry_msgs::Pose &	pose,
		unsigned int &	num_solutions
	)		const

Get number of candidate solutions for a particular pose.

Parameters

pose	The desired pose
solution_index	The solution index
solution	The actual solution

Returns: False if desired pose lies outside the grid

bool kinematics_cache::KinematicsCache::getSolution	(	const geometry_msgs::Pose &	pose,
		unsigned int	solution_index,
		std::vector< double > &	solution
	)		const

Get a candidate solution for a particular pose. Note that the pose will be projected onto the grid used in the caching process.

Parameters

pose	The desired pose
solution_index	The solution index
solution	The actual solution

Returns: False if desired pose lies outside the grid

Definition at line 193 of file v1/kinematics_cache/src/kinematics_cache.cpp.

bool kinematics_cache::KinematicsCache::getSolution	(	const geometry_msgs::Pose &	pose,
		unsigned int	solution_index,
		std::vector< double > &	solution
	)		const

Get a candidate solution for a particular pose. Note that the pose will be projected onto the grid used in the caching process.

Parameters

pose	The desired pose
solution_index	The solution index
solution	The actual solution

Returns: False if desired pose lies outside the grid

std::vector<double> kinematics_cache::KinematicsCache::getSolution	(	unsigned int	grid_index,
		unsigned int	solution_index
	)		const

private

Get a solution for the grid index given the solution index.

std::vector< double > kinematics_cache::KinematicsCache::getSolution	(	unsigned int	grid_index,
		unsigned int	solution_index
	)		const

private

Get a solution for the grid index given the solution index.

Definition at line 224 of file v1/kinematics_cache/src/kinematics_cache.cpp.

unsigned int kinematics_cache::KinematicsCache::getSolutionLocation	(	unsigned int &	grid_index,
		unsigned int &	solution_index
	)		const

private

Get the location of a solution given the grid index and solution index.

unsigned int kinematics_cache::KinematicsCache::getSolutionLocation	(	unsigned int &	grid_index,
		unsigned int &	solution_index
	)		const

private

Get the location of a solution given the grid index and solution index.

Definition at line 186 of file v1/kinematics_cache/src/kinematics_cache.cpp.

bool kinematics_cache::KinematicsCache::getSolutions	(	const geometry_msgs::Pose &	pose,
		std::vector< std::vector< double > > &	solutions
	)		const

Get all candidate solutions for a particular pose. Note that the pose will be projected onto the grid used in the caching process. The size of the solutions vector MUST be pre-allocated to num_solutions (see getNumSolutions)

Parameters

pose	The desired pose
solution_index	The solution index
solutions	The actual set of solutions

Returns: False if desired pose lies outside the grid or if size(solutions) is not set to num_solutions (see getNumSolutions)

bool kinematics_cache::KinematicsCache::getSolutions	(	const geometry_msgs::Pose &	pose,
		std::vector< std::vector< double > > &	solutions
	)		const

Get all candidate solutions for a particular pose. Note that the pose will be projected onto the grid used in the caching process. The size of the solutions vector MUST be pre-allocated to num_solutions (see getNumSolutions)

Parameters

pose	The desired pose
solution_index	The solution index
solutions	The actual set of solutions

Returns: False if desired pose lies outside the grid or if size(solutions) is not set to num_solutions (see getNumSolutions)

Definition at line 208 of file v1/kinematics_cache/src/kinematics_cache.cpp.

const kinematics::KinematicsBaseConstPtr& kinematics_cache::KinematicsCache::getSolverInstance ( ) const

inline

Return the instance of the kinematics solver.

Definition at line 110 of file v2/kinematics_cache/include/moveit/kinematics_cache/kinematics_cache.h.

const kinematics::KinematicsBaseConstPtr& kinematics_cache::KinematicsCache::getSolverInstance ( ) const

inline

Return the instance of the kinematics solver.

Definition at line 110 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

bool kinematics_cache::KinematicsCache::initialize	(	kinematics::KinematicsBaseConstPtr &	solver,
		const planning_models::RobotModelConstPtr &	kinematic_model,
		const KinematicsCache::Options &	opt
	)

Initialize the cache class.

Parameters

solver	An instance of a kinematics solver
kinematic_model	An instance of a kinematic model
opt	Parameters needed for defining the cache workspace

Returns: False if any error occured during initialization

Definition at line 48 of file v1/kinematics_cache/src/kinematics_cache.cpp.

bool kinematics_cache::KinematicsCache::initialize	(	kinematics::KinematicsBaseConstPtr &	solver,
		const robot_model::RobotModelConstPtr &	kinematic_model,
		const KinematicsCache::Options &	opt
	)

Initialize the cache class.

Parameters

solver	An instance of a kinematics solver
kinematic_model	An instance of a kinematic model
opt	Parameters needed for defining the cache workspace

Returns: False if any error occured during initialization

Definition at line 48 of file v2/kinematics_cache/src/kinematics_cache.cpp.

bool kinematics_cache::KinematicsCache::readFromFile ( const std::string & filename )

Definition at line 233 of file v1/kinematics_cache/src/kinematics_cache.cpp.

void kinematics_cache::KinematicsCache::setup ( const KinematicsCache::Options & opt )

private

Setup the cache.

Definition at line 64 of file v1/kinematics_cache/src/kinematics_cache.cpp.

void kinematics_cache::KinematicsCache::setup ( const KinematicsCache::Options & opt )

private

Setup the cache.

void kinematics_cache::KinematicsCache::updateDistances ( const geometry_msgs::Pose & pose )

private

Definition at line 368 of file v1/kinematics_cache/src/kinematics_cache.cpp.

void kinematics_cache::KinematicsCache::updateDistances ( const geometry_msgs::Pose & pose )

private

bool kinematics_cache::KinematicsCache::writeToFile ( const std::string & filename )

Definition at line 326 of file v1/kinematics_cache/src/kinematics_cache.cpp.

Member Data Documentation

geometry_msgs::Point kinematics_cache::KinematicsCache::cache_origin_

private

Internal copy of cache parameters

Definition at line 158 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

double kinematics_cache::KinematicsCache::cache_resolution_x_

private

Origin for cache workspace

Definition at line 159 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

double kinematics_cache::KinematicsCache::cache_resolution_y_

private

Definition at line 159 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

double kinematics_cache::KinematicsCache::cache_resolution_z_

private

Definition at line 159 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

unsigned int kinematics_cache::KinematicsCache::cache_size_x_

private

Resolution for grid (in m)

Definition at line 160 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

unsigned int kinematics_cache::KinematicsCache::cache_size_y_

private

Definition at line 160 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

unsigned int kinematics_cache::KinematicsCache::cache_size_z_

private

Definition at line 160 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

const planning_models::RobotModel::JointModelGroup* kinematics_cache::KinematicsCache::joint_model_group_

private

An instance of the kinematic state

Definition at line 175 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

const robot_model::JointModelGroup* kinematics_cache::KinematicsCache::joint_model_group_

private

An instance of the kinematic state

Definition at line 175 of file v2/kinematics_cache/include/moveit/kinematics_cache/kinematics_cache.h.

boost::shared_ptr<robot_state::JointStateGroup> kinematics_cache::KinematicsCache::joint_state_group_

private

Joint model group associated with this cache

Definition at line 176 of file v2/kinematics_cache/include/moveit/kinematics_cache/kinematics_cache.h.

boost::shared_ptr<planning_models::RobotState* ::JointStateGroup> kinematics_cache::KinematicsCache::joint_state_group_

private

Joint model group associated with this cache

Definition at line 177 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

planning_models::RobotModelConstPtr kinematics_cache::KinematicsCache::kinematic_model_

private

An instance of the kinematics solver

Definition at line 172 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

robot_model::RobotModelConstPtr kinematics_cache::KinematicsCache::kinematic_model_

private

An instance of the kinematics solver

Definition at line 172 of file v2/kinematics_cache/include/moveit/kinematics_cache/kinematics_cache.h.

planning_models::RobotState* Ptr kinematics_cache::KinematicsCache::kinematic_state_

private

An instance of the kinematic model

Definition at line 173 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

robot_state::RobotStatePtr kinematics_cache::KinematicsCache::kinematic_state_

private

An instance of the kinematic model

Definition at line 173 of file v2/kinematics_cache/include/moveit/kinematics_cache/kinematics_cache.h.

unsigned int kinematics_cache::KinematicsCache::kinematics_cache_points_with_solution_

private

Size of storage location (in number of doubles) for each grid node

Definition at line 164 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

unsigned int kinematics_cache::KinematicsCache::kinematics_cache_size_

private

Number of grid points that have solutions

Definition at line 165 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

std::vector< double > kinematics_cache::KinematicsCache::kinematics_cache_vector_

private

Total number of grid points

Definition at line 167 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

kinematics::KinematicsBaseConstPtr kinematics_cache::KinematicsCache::kinematics_solver_

private

Storage for number of solutions for each grid location

Definition at line 170 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

unsigned int kinematics_cache::KinematicsCache::max_solutions_per_grid_location_

private

Number of elements in XYZ grid

Definition at line 161 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

double kinematics_cache::KinematicsCache::max_squared_distance_

private

Definition at line 182 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

double kinematics_cache::KinematicsCache::min_squared_distance_

private

Joint state corresponding to cache

Definition at line 182 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

std::vector< unsigned int > kinematics_cache::KinematicsCache::num_solutions_vector_

private

Storage for the solutions

Definition at line 168 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

KinematicsCache::Options kinematics_cache::KinematicsCache::options_

private

Definition at line 157 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

unsigned int kinematics_cache::KinematicsCache::size_grid_node_

private

Dimension of each solution

Definition at line 163 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

unsigned int kinematics_cache::KinematicsCache::solution_dimension_

private

Max number of solutions per grid location

Definition at line 162 of file v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation