#include <pose_model_state_space.h>

Inheritance diagram for ompl_interface::PoseModelStateSpace:

Classes
struct	PoseComponent

class	StateType

Public Member Functions
virtual ompl::base::StateSamplerPtr	allocDefaultStateSampler () const

virtual ompl::base::State *	allocState () const

bool	computeStateFK (ompl::base::State *state) const

bool	computeStateIK (ompl::base::State *state) const

bool	computeStateK (ompl::base::State *state) const

virtual void	copyState (ompl::base::State destination, const ompl::base::State source) const

virtual void	copyToOMPLState (ompl::base::State *state, const robot_state::RobotState &rstate) const
	Copy the data from a set of joint states to an OMPL state. More...

virtual double	distance (const ompl::base::State state1, const ompl::base::State state2) const

virtual void	freeState (ompl::base::State *state) const

virtual double	getMaximumExtent () const

virtual void	interpolate (const ompl::base::State from, const ompl::base::State to, const double t, ompl::base::State *state) const

	PoseModelStateSpace (const ModelBasedStateSpaceSpecification &spec)

virtual void	sanityChecks () const

virtual void	setPlanningVolume (double minX, double maxX, double minY, double maxY, double minZ, double maxZ)
	Set the planning volume for the possible SE2 and/or SE3 components of the state space. More...

virtual	~PoseModelStateSpace ()

Public Member Functions inherited from ompl_interface::ModelBasedStateSpace
virtual void	copyJointToOMPLState (ompl::base::State state, const robot_state::RobotState &robot_state, const moveit::core::JointModel joint_model, int ompl_state_joint_index) const
	Copy a single joint's values (which might have multiple variables) from a MoveIt! robot_state to an OMPL state. More...

virtual void	copyToRobotState (robot_state::RobotState &rstate, const ompl::base::State *state) const
	Copy the data from an OMPL state to a set of joint states. More...

virtual void	deserialize (ompl::base::State state, const void serialization) const

virtual void	enforceBounds (ompl::base::State *state) const

virtual bool	equalStates (const ompl::base::State state1, const ompl::base::State state2) const

virtual unsigned int	getDimension () const

const robot_model::JointModelGroup *	getJointModelGroup () const

const std::string &	getJointModelGroupName () const

const robot_model::JointBoundsVector &	getJointsBounds () const

virtual double	getMeasure () const

const robot_model::RobotModelConstPtr &	getRobotModel () const

virtual unsigned int	getSerializationLength () const

const ModelBasedStateSpaceSpecification &	getSpecification () const

double	getTagSnapToSegment () const

virtual double *	getValueAddressAtIndex (ompl::base::State *state, const unsigned int index) const

	ModelBasedStateSpace (const ModelBasedStateSpaceSpecification &spec)

virtual void	printSettings (std::ostream &out) const

virtual void	printState (const ompl::base::State *state, std::ostream &out) const

virtual bool	satisfiesBounds (const ompl::base::State *state) const

virtual void	serialize (void serialization, const ompl::base::State state) const

void	setDistanceFunction (const DistanceFunction &fun)

void	setInterpolationFunction (const InterpolationFunction &fun)

void	setTagSnapToSegment (double snap)

virtual	~ModelBasedStateSpace ()

Static Public Attributes
static const std::string	PARAMETERIZATION_TYPE = "PoseModel"

Private Attributes
double	jump_factor_

std::vector< PoseComponent >	poses_

Additional Inherited Members
Protected Attributes inherited from ompl_interface::ModelBasedStateSpace
DistanceFunction	distance_function_

InterpolationFunction	interpolation_function_

std::vector< robot_model::JointModel::Bounds >	joint_bounds_storage_

std::vector< const robot_model::JointModel * >	joint_model_vector_

ModelBasedStateSpaceSpecification	spec_

size_t	state_values_size_

double	tag_snap_to_segment_

double	tag_snap_to_segment_complement_

unsigned int	variable_count_

Detailed Description

Definition at line 45 of file pose_model_state_space.h.

Constructor & Destructor Documentation

ompl_interface::PoseModelStateSpace::PoseModelStateSpace ( const ModelBasedStateSpaceSpecification & spec )

Definition at line 43 of file pose_model_state_space.cpp.

ompl_interface::PoseModelStateSpace::~PoseModelStateSpace ( )

virtual

Definition at line 64 of file pose_model_state_space.cpp.

Member Function Documentation

ompl::base::StateSamplerPtr ompl_interface::PoseModelStateSpace::allocDefaultStateSampler ( ) const

virtual

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 297 of file pose_model_state_space.cpp.

ompl::base::State * ompl_interface::PoseModelStateSpace::allocState ( ) const

virtual

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 85 of file pose_model_state_space.cpp.

bool ompl_interface::PoseModelStateSpace::computeStateFK ( ompl::base::State * state ) const

Definition at line 257 of file pose_model_state_space.cpp.

bool ompl_interface::PoseModelStateSpace::computeStateIK ( ompl::base::State * state ) const

Definition at line 271 of file pose_model_state_space.cpp.

bool ompl_interface::PoseModelStateSpace::computeStateK ( ompl::base::State * state ) const

Definition at line 285 of file pose_model_state_space.cpp.

void ompl_interface::PoseModelStateSpace::copyState	(	ompl::base::State *	destination,
		const ompl::base::State *	source
	)		const

virtual

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 104 of file pose_model_state_space.cpp.

void ompl_interface::PoseModelStateSpace::copyToOMPLState	(	ompl::base::State *	state,
		const robot_state::RobotState &	rstate
	)		const

virtual

Copy the data from a set of joint states to an OMPL state.

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 340 of file pose_model_state_space.cpp.

double ompl_interface::PoseModelStateSpace::distance	(	const ompl::base::State *	state1,
		const ompl::base::State *	state2
	)		const

virtual

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 68 of file pose_model_state_space.cpp.

void ompl_interface::PoseModelStateSpace::freeState ( ompl::base::State * state ) const

virtual

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 96 of file pose_model_state_space.cpp.

double ompl_interface::PoseModelStateSpace::getMaximumExtent ( ) const

virtual

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 77 of file pose_model_state_space.cpp.

void ompl_interface::PoseModelStateSpace::interpolate	(	const ompl::base::State *	from,
		const ompl::base::State *	to,
		const double	t,
		ompl::base::State *	state
	)		const