Protected Member Functions | Private Member Functions | Private Attributes
ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner Class Reference

#include <ompl_ros_rpy_ik_task_space_planner.h>

Inheritance diagram for ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner:
Inheritance graph
[legend]

List of all members.

Protected Member Functions

virtual bool constraintsToOmplState (const arm_navigation_msgs::Constraints &constraints, ompl::base::ScopedState< ompl::base::CompoundStateSpace > &goal)
virtual
arm_navigation_msgs::RobotTrajectory 
getSolutionPath ()
 Returns the solution path.
virtual bool initializeStateValidityChecker (ompl_ros_interface::OmplRosStateValidityCheckerPtr &state_validity_checker)
 Initialize the state validity checker.

Private Member Functions

bool checkAndCorrectForWrapAround (double &value, const double &min_v, const double &max_v)
bool getEndEffectorConstraints (const arm_navigation_msgs::Constraints &constraints, arm_navigation_msgs::PositionConstraint &position_constraint, arm_navigation_msgs::OrientationConstraint &orientation_constraint, const bool &need_both_constraints)
geometry_msgs::PoseStamped getEndEffectorPose (const arm_navigation_msgs::RobotState &robot_state)
bool orientationConstraintToOmplStateBounds (const arm_navigation_msgs::OrientationConstraint &orientation_constraint, ompl::base::StateSpacePtr &goal)
bool poseStampedToOmplState (const geometry_msgs::PoseStamped &pose_stamped, ompl::base::ScopedState< ompl::base::CompoundStateSpace > &goal, const bool &return_if_outside_constraints=true)
bool positionConstraintToOmplStateBounds (const arm_navigation_msgs::PositionConstraint &position_constraint, ompl::base::StateSpacePtr &goal)
virtual bool setStart (arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response)
 Set the start state(s)

Private Attributes

std::string end_effector_name_
boost::shared_ptr
< ompl::base::RealVectorBounds > 
original_real_vector_bounds_

Detailed Description

Definition at line 49 of file ompl_ros_rpy_ik_task_space_planner.h.


Member Function Documentation

bool ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::checkAndCorrectForWrapAround ( double &  value,
const double &  min_v,
const double &  max_v 
) [private]

Definition at line 403 of file ompl_ros_rpy_ik_task_space_planner.cpp.

bool ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::constraintsToOmplState ( const arm_navigation_msgs::Constraints constraints,
ompl::base::ScopedState< ompl::base::CompoundStateSpace > &  goal 
) [protected, virtual]
bool ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::getEndEffectorConstraints ( const arm_navigation_msgs::Constraints constraints,
arm_navigation_msgs::PositionConstraint position_constraint,
arm_navigation_msgs::OrientationConstraint orientation_constraint,
const bool need_both_constraints 
) [private]

Definition at line 305 of file ompl_ros_rpy_ik_task_space_planner.cpp.

Definition at line 424 of file ompl_ros_rpy_ik_task_space_planner.cpp.

Returns the solution path.

Implements ompl_ros_interface::OmplRosTaskSpacePlanner.

Definition at line 64 of file ompl_ros_rpy_ik_task_space_planner.cpp.

Initialize the state validity checker.

Reimplemented from ompl_ros_interface::OmplRosTaskSpacePlanner.

Definition at line 42 of file ompl_ros_rpy_ik_task_space_planner.cpp.

Definition at line 247 of file ompl_ros_rpy_ik_task_space_planner.cpp.

bool ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::poseStampedToOmplState ( const geometry_msgs::PoseStamped &  pose_stamped,
ompl::base::ScopedState< ompl::base::CompoundStateSpace > &  goal,
const bool return_if_outside_constraints = true 
) [private]

Definition at line 340 of file ompl_ros_rpy_ik_task_space_planner.cpp.

bool ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::positionConstraintToOmplStateBounds ( const arm_navigation_msgs::PositionConstraint position_constraint,
ompl::base::StateSpacePtr &  goal 
) [private]

Definition at line 226 of file ompl_ros_rpy_ik_task_space_planner.cpp.

Set the start state(s)

Reimplemented from ompl_ros_interface::OmplRosTaskSpacePlanner.

Definition at line 110 of file ompl_ros_rpy_ik_task_space_planner.cpp.


Member Data Documentation

boost::shared_ptr<ompl::base::RealVectorBounds> ompl_ros_interface::OmplRosRPYIKTaskSpacePlanner::original_real_vector_bounds_ [private]

Definition at line 74 of file ompl_ros_rpy_ik_task_space_planner.h.


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


ompl_ros_interface
Author(s): Sachin Chitta
autogenerated on Thu Dec 12 2013 11:10:59