#include <pose_model_state_space.h>

Inheritance diagram for ompl_interface::PoseModelStateSpace:

Classes
struct	PoseComponent

class	StateType

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

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

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

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

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

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

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

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

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

double	getMaximumExtent () const override

const std::string &	getParameterizationType () const override

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

	PoseModelStateSpace (const ModelBasedStateSpaceSpecification &spec)

void	sanityChecks () const override

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

	~PoseModelStateSpace () override

Public Member Functions inherited from ompl_interface::ModelBasedStateSpace
ompl::base::StateSamplerPtr	allocDefaultStateSampler () const override

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

virtual void	copyJointToOMPLState (ompl::base::State state, const moveit::core::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...

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

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

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

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

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

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

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

unsigned int	getDimension () const override

const moveit::core::JointModelGroup *	getJointModelGroup () const

const std::string &	getJointModelGroupName () const

const moveit::core::JointBoundsVector &	getJointsBounds () const

double	getMaximumExtent () const override

double	getMeasure () const override

const moveit::core::RobotModelConstPtr &	getRobotModel () const

unsigned int	getSerializationLength () const override

const ModelBasedStateSpaceSpecification &	getSpecification () const

double	getTagSnapToSegment () const

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

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

	ModelBasedStateSpace (ModelBasedStateSpaceSpecification spec)

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

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

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

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

void	setDistanceFunction (const DistanceFunction &fun)

void	setInterpolationFunction (const InterpolationFunction &fun)

void	setTagSnapToSegment (double snap)

	~ModelBasedStateSpace () override

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< moveit::core::JointModel::Bounds >	joint_bounds_storage_

std::vector< const moveit::core::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 76 of file pose_model_state_space.h.

Constructor & Destructor Documentation

◆ PoseModelStateSpace()

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

Definition at line 50 of file pose_model_state_space.cpp.

◆ ~PoseModelStateSpace()

ompl_interface::PoseModelStateSpace::~PoseModelStateSpace ( )

overridedefault

Member Function Documentation

◆ allocDefaultStateSampler()

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

override

Definition at line 288 of file pose_model_state_space.cpp.

◆ allocState()

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

override

Definition at line 87 of file pose_model_state_space.cpp.

◆ computeStateFK()

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

Definition at line 248 of file pose_model_state_space.cpp.

◆ computeStateIK()

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

Definition at line 262 of file pose_model_state_space.cpp.

◆ computeStateK()

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

Definition at line 276 of file pose_model_state_space.cpp.

◆ copyState()

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

override

Definition at line 106 of file pose_model_state_space.cpp.

◆ copyToOMPLState()

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

overridevirtual

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

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 331 of file pose_model_state_space.cpp.

◆ distance()

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

override

Definition at line 73 of file pose_model_state_space.cpp.

◆ freeState()

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

override

Definition at line 98 of file pose_model_state_space.cpp.

◆ getMaximumExtent()

double ompl_interface::PoseModelStateSpace::getMaximumExtent ( ) const

override

Definition at line 79 of file pose_model_state_space.cpp.

◆ getParameterizationType()

const std::string& ompl_interface::PoseModelStateSpace::getParameterizationType ( ) const

inlineoverridevirtual

Implements ompl_interface::ModelBasedStateSpace.

Definition at line 177 of file pose_model_state_space.h.

◆ interpolate()

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

override

Definition at line 125 of file pose_model_state_space.cpp.

◆ sanityChecks()

void ompl_interface::PoseModelStateSpace::sanityChecks ( ) const

override

Definition at line 119 of file pose_model_state_space.cpp.

◆ setPlanningVolume()

void ompl_interface::PoseModelStateSpace::setPlanningVolume	(	double	minX,
		double	maxX,
		double	minY,
		double	maxY,
		double	minZ,
		double	maxZ
	)

overridevirtual

Set the planning volume for the possible SE2 and/or SE3 components of the state space.

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 155 of file pose_model_state_space.cpp.

Member Data Documentation

◆ jump_factor_

double ompl_interface::PoseModelStateSpace::jump_factor_

private

Definition at line 204 of file pose_model_state_space.h.

◆ PARAMETERIZATION_TYPE

const std::string ompl_interface::PoseModelStateSpace::PARAMETERIZATION_TYPE = "PoseModel"

static

Definition at line 111 of file pose_model_state_space.h.

◆ poses_

std::vector<PoseComponent> ompl_interface::PoseModelStateSpace::poses_

private

Definition at line 203 of file pose_model_state_space.h.

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

Classes

Public Member Functions

Static Public Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PoseModelStateSpace()

◆ ~PoseModelStateSpace()

Member Function Documentation

◆ allocDefaultStateSampler()

◆ allocState()

◆ computeStateFK()

◆ computeStateIK()

◆ computeStateK()

◆ copyState()

◆ copyToOMPLState()

◆ distance()

◆ freeState()

◆ getMaximumExtent()

◆ getParameterizationType()

◆ interpolate()

◆ sanityChecks()

◆ setPlanningVolume()

Member Data Documentation

◆ jump_factor_

◆ PARAMETERIZATION_TYPE

◆ poses_