Classes | Typedefs | Enumerations | Functions
ompl_ros_interface Namespace Reference

Classes

class  KinematicStateToOmplStateMapping
class  OmplRos
 Initializes a bunch of planners for different groups (collections of joints and links, e.g. a robot arm). This class gets all its parameters from the ROS parameter server. After initializing, just call run on the class to start it running. More...
class  OmplRosIKSampleableRegion
 Inherits from ompl::base::GoalSampleableRegion and can be used to sample goals using IK. More...
class  OmplRosIKSampler
class  OmplRosIKStateTransformer
 A state trasformer that uses forward and inverse kinematics to convert to and from ompl and physical robot states. More...
class  OmplRosJointPlanner
 A joint planner - this is the planner that most applications will use. More...
class  OmplRosJointStateValidityChecker
 This class implements a state validity checker in joint space. More...
class  OmplRosPlanningGroup
 An instantiation of a particular planner for a specific group. More...
class  OmplRosProjectionEvaluator
 A projection evaluator specifically designed for the ROS interface to OMPL while using a compound state space. More...
class  OmplRosRPYIKStateTransformer
class  OmplRosRPYIKTaskSpacePlanner
class  OmplRosStateTransformer
class  OmplRosStateValidityChecker
 A ROS wrapper around a ompl::base::StateValidityChecker object. More...
class  OmplRosTaskSpacePlanner
 A generic task space planner. More...
class  OmplRosTaskSpaceValidityChecker
 This class implements a state validity checker in task space. More...
class  OmplStateToKinematicStateMapping
class  OmplStateToRobotStateMapping
class  PlannerConfig
 A class to define a planner configuration. More...
class  PlannerConfigMap
 A map from group name to planner configuration names. This class is used internally and is not intended for external use. More...
class  RobotStateToKinematicStateMapping
class  RobotStateToOmplStateMapping

Typedefs

typedef boost::shared_ptr
< ompl_ros_interface::OmplRosStateValidityChecker
OmplRosStateValidityCheckerPtr

Enumerations

enum  MAPPING_TYPE {
  REAL_VECTOR, SO2, SO3, SE2,
  SE3, COMPOUND, UNKNOWN
}
 enumeration of different mapping types for ompl More...

Functions

bool addToOmplStateSpace (const planning_models::KinematicModel *kinematic_model, const std::string &joint_name, ompl::base::StateSpacePtr &ompl_state_space)
 Add a state to the ompl state space.
bool constraintsToOmplState (const arm_navigation_msgs::Constraints &constraints, ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_scoped_state, const bool &fail_if_match_not_found=true)
 Convert a set of constraints to an ompl scoped state.
bool getJointStateGroupToOmplStateMapping (planning_models::KinematicState::JointStateGroup *joint_state_group, const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_state, ompl_ros_interface::KinematicStateToOmplStateMapping &mapping)
 Create a mapping from the kinematic state to an ompl state.
bool getJointStateToOmplStateMapping (const sensor_msgs::JointState &joint_state, const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_state, ompl_ros_interface::RobotStateToOmplStateMapping &mapping, const bool &fail_if_match_not_found=true)
 Create a mapping from the ROS message joint_state to an ompl state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.
ompl_ros_interface::MAPPING_TYPE getMappingType (const planning_models::KinematicModel::JointModel *joint_model)
ompl_ros_interface::MAPPING_TYPE getMappingType (const ompl::base::StateSpace *state_space)
ompl_ros_interface::MAPPING_TYPE getMappingType (const ompl::base::StateSpacePtr &state_space)
bool getOmplStateToJointStateGroupMapping (const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_state, planning_models::KinematicState::JointStateGroup *joint_state_group, ompl_ros_interface::OmplStateToKinematicStateMapping &mapping)
 Create a mapping from the ompl state to a kinematic state.
bool getOmplStateToJointStateMapping (const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_state, const sensor_msgs::JointState &joint_state, ompl_ros_interface::OmplStateToRobotStateMapping &mapping, const bool &fail_if_match_not_found=true)
 Create a mapping from an ompl state to the ROS message robot_state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.
bool getOmplStateToJointTrajectoryMapping (const ompl::base::StateSpacePtr &state_space, const trajectory_msgs::JointTrajectory &joint_trajectory, ompl_ros_interface::OmplStateToRobotStateMapping &mapping)
 Get the mapping from an ompl state space to a JointTrajectory message.
bool getOmplStateToRobotStateMapping (const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_state, const arm_navigation_msgs::RobotState &robot_state, ompl_ros_interface::OmplStateToRobotStateMapping &mapping, const bool &fail_if_match_not_found=true)
 Create a mapping from an ompl state to the ROS message robot_state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.
bool getOmplStateToRobotTrajectoryMapping (const ompl::base::StateSpacePtr &state_space, const arm_navigation_msgs::RobotTrajectory &robot_trajectory, ompl_ros_interface::OmplStateToRobotStateMapping &mapping)
 Get the mapping from an ompl state space to a RobotTrajectory message.
bool getRobotStateToJointModelGroupMapping (const arm_navigation_msgs::RobotState &robot_state, const planning_models::KinematicModel::JointModelGroup *joint_model_group, ompl_ros_interface::RobotStateToKinematicStateMapping &mapping)
 Get the mapping from a RobotState message to a JointModelGroup.
bool getRobotStateToOmplStateMapping (const arm_navigation_msgs::RobotState &robot_state, const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_state, ompl_ros_interface::RobotStateToOmplStateMapping &mapping, const bool &fail_if_match_not_found=true)
 Create a mapping from the ROS message robot_state to an ompl state. This function is intended to help in efficient conversion between ROS messages and an ompl state object by providing a mapping that can be cached and used frequently.
bool jointConstraintsToOmplState (const std::vector< arm_navigation_msgs::JointConstraint > &joint_constraints, ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_scoped_state)
 Convert a set of joint constraints to an ompl scoped state.
ompl::base::StateSpacePtr jointGroupToOmplStateSpacePtr (const planning_models::KinematicModel::JointModelGroup *joint_group, ompl_ros_interface::OmplStateToKinematicStateMapping &ompl_kinematic_mapping, ompl_ros_interface::KinematicStateToOmplStateMapping &kinematic_ompl_mapping)
 create a object of type ompl::base::CompoundStateSpace from an object of type planning_models::KinematicModel::JointGroup
bool jointStateGroupToRobotTrajectory (planning_models::KinematicState::JointStateGroup *joint_state_group, arm_navigation_msgs::RobotTrajectory &robot_trajectory)
 Create a RobotTrajectory message from a joint state group.
bool jointStateToRealVectorState (const sensor_msgs::JointState &joint_state, const ompl_ros_interface::RobotStateToOmplStateMapping &mapping, ompl::base::RealVectorStateSpace::StateType &real_vector_state, const bool &fail_if_match_not_found=true)
 Convert a ROS message joint state to an ompl real vector state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.
bool kinematicStateGroupToOmplState (const planning_models::KinematicState::JointStateGroup *joint_state_group, const ompl_ros_interface::KinematicStateToOmplStateMapping &mapping, ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_state)
 Convert a kinematic state to an ompl scoped state given the appropriate mapping.
bool omplPathGeometricToRobotTrajectory (const ompl::geometric::PathGeometric &path, const ompl::base::StateSpacePtr &state_space, arm_navigation_msgs::RobotTrajectory &robot_trajectory)
 Convert an ompl path to a RobotTrajectory message.
bool omplPathGeometricToRobotTrajectory (const ompl::geometric::PathGeometric &path, const ompl_ros_interface::OmplStateToRobotStateMapping &mapping, arm_navigation_msgs::RobotTrajectory &robot_trajectory)
 Convert an ompl path to a RobotTrajectory message.
bool omplRealVectorStateToJointState (const ompl::base::RealVectorStateSpace::StateType &ompl_state, const ompl_ros_interface::OmplStateToRobotStateMapping &mapping, sensor_msgs::JointState &joint_state)
 Convert an ompl state to the ROS message joint_state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.
bool omplStateToKinematicStateGroup (const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_state, const ompl_ros_interface::OmplStateToKinematicStateMapping &mapping, planning_models::KinematicState::JointStateGroup *joint_state_group)
 Convert an ompl scoped state to a kinematic state given the appropriate mapping.
bool omplStateToKinematicStateGroup (const ompl::base::State *ompl_state, const ompl_ros_interface::OmplStateToKinematicStateMapping &mapping, planning_models::KinematicState::JointStateGroup *joint_state_group)
 Convert an ompl state to a kinematic state given the appropriate mapping.
bool omplStateToRobotState (const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_state, const ompl_ros_interface::OmplStateToRobotStateMapping &mapping, arm_navigation_msgs::RobotState &robot_state)
 Convert an ompl state to the ROS message robot_state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.
bool omplStateToRobotState (const ompl::base::State &ompl_state, const ompl_ros_interface::OmplStateToRobotStateMapping &mapping, arm_navigation_msgs::RobotState &robot_state)
 Convert an ompl state to the ROS message robot_state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.
void poseMsgToSE3StateSpace (const geometry_msgs::Pose &pose_msg, ompl::base::SE3StateSpace::StateType &pose)
 Convert a pose message to a SE3StateSpace::StateType.
void quaternionMsgToSO3StateSpace (const geometry_msgs::Quaternion &quaternion_msg, ompl::base::SO3StateSpace::StateType &quaternion)
 Convert a quaternion message to a SO3StateSpace::StateType.
bool robotStateToJointStateGroup (const arm_navigation_msgs::RobotState &robot_state, const ompl_ros_interface::RobotStateToKinematicStateMapping &robot_state_to_joint_state_group_mapping, planning_models::KinematicState::JointStateGroup *joint_state_group)
 Convert from a RobotState to a JointStateGroup.
bool robotStateToOmplState (const arm_navigation_msgs::RobotState &robot_state, const ompl_ros_interface::RobotStateToOmplStateMapping &mapping, ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_state, const bool &fail_if_match_not_found=true)
 Convert a ROS message robot state to an ompl state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.
bool robotStateToOmplState (const arm_navigation_msgs::RobotState &robot_state, const ompl_ros_interface::RobotStateToOmplStateMapping &mapping, ompl::base::State *ompl_state, const bool &fail_if_match_not_found=true)
 Convert a ROS message robot state to an ompl state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.
bool robotStateToOmplState (const arm_navigation_msgs::RobotState &robot_state, ompl::base::ScopedState< ompl::base::CompoundStateSpace > &ompl_scoped_state, const bool &fail_if_match_not_found=true)
 Convert a ROS message robot state to an ompl state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.
void SE2StateSpaceToPoseMsg (const ompl::base::SE2StateSpace::StateType &pose, geometry_msgs::Pose &pose_msg)
 Convert a SE2StateSpace::StateType to a pose message.
void SE3StateSpaceToPoseMsg (const ompl::base::SE3StateSpace::StateType &pose, geometry_msgs::Pose &pose_msg)
 Convert a SE3StateSpace::StateType to a pose message.
void SO3StateSpaceToPoseMsg (const ompl::base::SO3StateSpace::StateType &quaternion, geometry_msgs::Pose &pose_msg)
 Convert a SO3StateSpace::StateType to a pose message.
void SO3StateSpaceToQuaternionMsg (const ompl::base::SO3StateSpace::StateType &quaternion, geometry_msgs::Quaternion &quaternion_msg)
 Convert a SO3StateSpace::StateType to a quaternion message.

Detailed Description

Author:
Sachin Chitta, Ioan Sucan
Sachin Chitta
E.Gil Jones

Typedef Documentation

Definition at line 115 of file ompl_ros_state_validity_checker.h.


Enumeration Type Documentation

enumeration of different mapping types for ompl

Enumerator:
REAL_VECTOR 
SO2 
SO3 
SE2 
SE3 
COMPOUND 
UNKNOWN 

Definition at line 68 of file ompl_ros_conversions.h.


Function Documentation

bool ompl_ros_interface::addToOmplStateSpace ( const planning_models::KinematicModel kinematic_model,
const std::string &  joint_name,
ompl::base::StateSpacePtr &  ompl_state_space 
)

Add a state to the ompl state space.

Parameters:
kinematic_model- the kinematic model to use for getting properties of the particular joint
joint_name- The joint name to add
ompl_state_space- The state space to add joints to
Returns:
false if any error occured

Definition at line 141 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::constraintsToOmplState ( const arm_navigation_msgs::Constraints constraints,
ompl::base::ScopedState< ompl::base::CompoundStateSpace > &  ompl_scoped_state,
const bool fail_if_match_not_found = true 
)

Convert a set of constraints to an ompl scoped state.

Parameters:
constraintsThe input joint constraints
ompl_scoped_stateThe output scoped state
fail_if_match_not_found- if true, fail if no matching joint was found for any of the joints specified in the constraints
Returns:
false if any error occured

Definition at line 1123 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::getJointStateGroupToOmplStateMapping ( planning_models::KinematicState::JointStateGroup joint_state_group,
const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &  ompl_state,
ompl_ros_interface::KinematicStateToOmplStateMapping mapping 
)

Create a mapping from the kinematic state to an ompl state.

Parameters:
kinematic_stateThe kinematic state to create the mapping from
ompl_stateThe ompl state to create the mapping to
mappingThe resultant mapping

Definition at line 269 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::getJointStateToOmplStateMapping ( const sensor_msgs::JointState &  joint_state,
const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &  ompl_state,
ompl_ros_interface::RobotStateToOmplStateMapping mapping,
const bool fail_if_match_not_found = true 
)

Create a mapping from the ROS message joint_state to an ompl state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.

Parameters:
robot_stateThe joint state message to create the mapping from
ompl_stateThe ompl state to create the mapping to
mappingThe resultant mapping

Definition at line 428 of file ompl_ros_conversions.cpp.

Definition at line 211 of file ompl_ros_conversions.cpp.

ompl_ros_interface::MAPPING_TYPE ompl_ros_interface::getMappingType ( const ompl::base::StateSpace *  state_space)

Definition at line 233 of file ompl_ros_conversions.cpp.

ompl_ros_interface::MAPPING_TYPE ompl_ros_interface::getMappingType ( const ompl::base::StateSpacePtr &  state_space)

Definition at line 263 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::getOmplStateToJointStateGroupMapping ( const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &  ompl_state,
planning_models::KinematicState::JointStateGroup joint_state_group,
ompl_ros_interface::OmplStateToKinematicStateMapping mapping 
)

Create a mapping from the ompl state to a kinematic state.

Parameters:
ompl_stateThe ompl state to create the mapping from
joint_state_groupThe kinematic state to create the mapping to
mappingThe resultant mapping

Definition at line 333 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::getOmplStateToJointStateMapping ( const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &  ompl_state,
const sensor_msgs::JointState &  joint_state,
ompl_ros_interface::OmplStateToRobotStateMapping mapping,
const bool fail_if_match_not_found = true 
)

Create a mapping from an ompl state to the ROS message robot_state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.

Parameters:
ompl_stateThe ompl state to create the mapping from
joint_stateThe joint state message to create the mapping to
mappingThe resultant mapping

Definition at line 480 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::getOmplStateToJointTrajectoryMapping ( const ompl::base::StateSpacePtr &  state_space,
const trajectory_msgs::JointTrajectory &  joint_trajectory,
ompl_ros_interface::OmplStateToRobotStateMapping mapping 
)

Get the mapping from an ompl state space to a JointTrajectory message.

Parameters:
state_spaceThe state space
joint_trajectoryThe JointTrajectory message to find the mapping for
mappingThe mapping from the state_space to the robot trajectory
Returns:
false if any error occured

Definition at line 1031 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::getOmplStateToRobotStateMapping ( const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &  ompl_state,
const arm_navigation_msgs::RobotState robot_state,
ompl_ros_interface::OmplStateToRobotStateMapping mapping,
const bool fail_if_match_not_found = true 
)

Create a mapping from an ompl state to the ROS message robot_state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.

Parameters:
ompl_stateThe ompl state to create the mapping from
robot_stateThe joint state message to create the mapping to
mappingThe resultant mapping

Definition at line 549 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::getOmplStateToRobotTrajectoryMapping ( const ompl::base::StateSpacePtr &  state_space,
const arm_navigation_msgs::RobotTrajectory robot_trajectory,
ompl_ros_interface::OmplStateToRobotStateMapping mapping 
)

Get the mapping from an ompl state space to a RobotTrajectory message.

Parameters:
state_spaceThe state space
robot_trajectoryThe RobotTrajectory message to find the mapping for
mappingThe mapping from the state_space to the robot trajectory
Returns:
false if any error occured

Definition at line 997 of file ompl_ros_conversions.cpp.

Get the mapping from a RobotState message to a JointModelGroup.

Parameters:
robot_state- The input RobotState
joint_model_group- The resultant joint model group
mapping- The mapping from the robot state to the joint model
Returns:
false if any error occured

Definition at line 1142 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::getRobotStateToOmplStateMapping ( const arm_navigation_msgs::RobotState robot_state,
const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &  ompl_state,
ompl_ros_interface::RobotStateToOmplStateMapping mapping,
const bool fail_if_match_not_found = true 
)

Create a mapping from the ROS message robot_state to an ompl state. This function is intended to help in efficient conversion between ROS messages and an ompl state object by providing a mapping that can be cached and used frequently.

Parameters:
robot_stateThe robot state to create the mapping from
ompl_stateThe ompl state to create the mapping to
mappingThe resultant mapping

Definition at line 392 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::jointConstraintsToOmplState ( const std::vector< arm_navigation_msgs::JointConstraint > &  joint_constraints,
ompl::base::ScopedState< ompl::base::CompoundStateSpace > &  ompl_scoped_state 
)

Convert a set of joint constraints to an ompl scoped state.

Parameters:
joint_constraintsThe input joint constraints
ompl_scoped_stateThe output scoped state
Returns:
false if any error occured

Definition at line 1106 of file ompl_ros_conversions.cpp.

create a object of type ompl::base::CompoundStateSpace from an object of type planning_models::KinematicModel::JointGroup

Parameters:
joint_groupThe joint group to construct this from
state_spaceThe output state space
ompl_kinematic_mappingMapping from the ompl state to the corresponding kinematic state
kinematic_ompl_mappingMapping from the kinematic state to the corresponding ompl state

Definition at line 41 of file ompl_ros_conversions.cpp.

Create a RobotTrajectory message from a joint state group.

Create a robot trajectory message for a joint state group.

Parameters:
joint_state_groupThe kinematic state to convert from
robot_trajectoryThe robot trajectory that was created
Returns:
false if any error occured
Parameters:
joint_state_groupThe input group
robot_trajectoryThe output robot trajectory

Definition at line 892 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::jointStateToRealVectorState ( const sensor_msgs::JointState &  joint_state,
const ompl_ros_interface::RobotStateToOmplStateMapping mapping,
ompl::base::RealVectorStateSpace::StateType &  real_vector_state,
const bool fail_if_match_not_found = true 
)

Convert a ROS message joint state to an ompl real vector state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.

Parameters:
joint_stateThe joint state message to create the mapping to
real_vector_stateThe ompl state to create the mapping from
mappingThe mapping to use for this conversion

Definition at line 657 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::kinematicStateGroupToOmplState ( const planning_models::KinematicState::JointStateGroup joint_state_group,
const ompl_ros_interface::KinematicStateToOmplStateMapping mapping,
ompl::base::ScopedState< ompl::base::CompoundStateSpace > &  ompl_scoped_state 
)

Convert a kinematic state to an ompl scoped state given the appropriate mapping.

Convert a kinematic state to an ompl state given the appropriate mapping.

Parameters:
joint_state_groupThe kinematic state to convert from
mappingThe given mapping
ompl_stateThe ompl scoped state to convert to
joint_state_groupThe kinematic state to convert from
mappingThe given mapping
ompl_scoped_stateThe ompl state to convert to

Definition at line 731 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::omplPathGeometricToRobotTrajectory ( const ompl::geometric::PathGeometric &  path,
const ompl::base::StateSpacePtr &  state_space,
arm_navigation_msgs::RobotTrajectory robot_trajectory 
)

Convert an ompl path to a RobotTrajectory message.

Parameters:
pathThe ompl path
state_spaceThe state space corresponding to the path
robot_trajectoryThe RobotTrajectory message to convert the path to
Returns:
false if any error occured

Definition at line 922 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::omplPathGeometricToRobotTrajectory ( const ompl::geometric::PathGeometric &  path,
const ompl_ros_interface::OmplStateToRobotStateMapping mapping,
arm_navigation_msgs::RobotTrajectory robot_trajectory 
)

Convert an ompl path to a RobotTrajectory message.

Parameters:
pathThe ompl path
mappingThe mapping from the path to the robot trajectory
robot_trajectoryThe RobotTrajectory message to convert the path to
Returns:
false if any error occured

Definition at line 939 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::omplRealVectorStateToJointState ( const ompl::base::RealVectorStateSpace::StateType &  ompl_state,
const ompl_ros_interface::OmplStateToRobotStateMapping mapping,
sensor_msgs::JointState &  joint_state 
)

Convert an ompl state to the ROS message joint_state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.

Parameters:
ompl_stateThe ompl state to create the mapping from
mappingThe mapping to use for this conversion
joint_stateThe joint state message to create the mapping to

Definition at line 599 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::omplStateToKinematicStateGroup ( const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &  ompl_scoped_state,
const ompl_ros_interface::OmplStateToKinematicStateMapping mapping,
planning_models::KinematicState::JointStateGroup joint_state_group 
)

Convert an ompl scoped state to a kinematic state given the appropriate mapping.

Convert an ompl state to a kinematic state given the appropriate mapping.

Parameters:
ompl_stateThe ompl scoped state to convert from
mappingThe given mapping
joint_state_groupThe kinematic state to convert to
ompl_scoped_stateThe ompl state to convert to
mappingThe given mapping
joint_state_groupThe kinematic state to convert from

Definition at line 780 of file ompl_ros_conversions.cpp.

Convert an ompl state to a kinematic state given the appropriate mapping.

Parameters:
ompl_stateThe ompl state to convert to
mappingThe given mapping
joint_state_groupThe kinematic state to convert from

Definition at line 837 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::omplStateToRobotState ( const ompl::base::ScopedState< ompl::base::CompoundStateSpace > &  ompl_state,
const ompl_ros_interface::OmplStateToRobotStateMapping mapping,
arm_navigation_msgs::RobotState robot_state 
)

Convert an ompl state to the ROS message robot_state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.

Parameters:
ompl_stateThe ompl state to create the mapping from
mappingThe mapping to use for this conversion
robot_stateThe robot state message to create the mapping to

Definition at line 579 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::omplStateToRobotState ( const ompl::base::State &  ompl_state,
const ompl_ros_interface::OmplStateToRobotStateMapping mapping,
arm_navigation_msgs::RobotState robot_state 
)

Convert an ompl state to the ROS message robot_state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.

Parameters:
ompl_stateThe ompl state to create the mapping from
mappingThe mapping to use for this conversion
robot_stateThe robot state message to create the mapping to
void ompl_ros_interface::poseMsgToSE3StateSpace ( const geometry_msgs::Pose pose_msg,
ompl::base::SE3StateSpace::StateType &  pose 
)

Convert a pose message to a SE3StateSpace::StateType.

Parameters:
pose_msg- the input pose message
pose- the resultant object of type SE3StateSpace::StateType

Definition at line 707 of file ompl_ros_conversions.cpp.

void ompl_ros_interface::quaternionMsgToSO3StateSpace ( const geometry_msgs::Quaternion &  quaternion_msg,
ompl::base::SO3StateSpace::StateType &  quaternion 
)

Convert a quaternion message to a SO3StateSpace::StateType.

Parameters:
pose_msg- the resultant quaternion message
pose- an object of type SO3StateSpace::StateType

Definition at line 716 of file ompl_ros_conversions.cpp.

Convert from a RobotState to a JointStateGroup.

Parameters:
robot_state- The input RobotState
robot_state_to_joint_state_group_mapping- The mapping from the robot state to the joint state group
joint_state_group- The resultant joint state group
Returns:
false if any error occured

Definition at line 1185 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::robotStateToOmplState ( const arm_navigation_msgs::RobotState robot_state,
const ompl_ros_interface::RobotStateToOmplStateMapping mapping,
ompl::base::ScopedState< ompl::base::CompoundStateSpace > &  ompl_state,
const bool fail_if_match_not_found = true 
)

Convert a ROS message robot state to an ompl state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.

Parameters:
robot_stateThe robot state message to create the mapping to
mappingThe mapping to use for this conversion
ompl_stateThe ompl state to create the mapping from

Definition at line 610 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::robotStateToOmplState ( const arm_navigation_msgs::RobotState robot_state,
const ompl_ros_interface::RobotStateToOmplStateMapping mapping,
ompl::base::State *  ompl_state,
const bool fail_if_match_not_found = true 
)

Convert a ROS message robot state to an ompl state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.

Parameters:
robot_stateThe robot state message to create the mapping to
mappingThe mapping to use for this conversion
ompl_stateThe ompl state to create the mapping from

Definition at line 618 of file ompl_ros_conversions.cpp.

bool ompl_ros_interface::robotStateToOmplState ( const arm_navigation_msgs::RobotState robot_state,
ompl::base::ScopedState< ompl::base::CompoundStateSpace > &  ompl_scoped_state,
const bool fail_if_match_not_found = true 
)

Convert a ROS message robot state to an ompl state. This function is intended to help in efficient conversion between ROS messages and OMPL state objects by providing a mapping that can be cached and used frequently.

Parameters:
robot_stateThe robot state message to create the mapping to
ompl_stateThe ompl state to create the mapping from

Definition at line 647 of file ompl_ros_conversions.cpp.

void ompl_ros_interface::SE2StateSpaceToPoseMsg ( const ompl::base::SE2StateSpace::StateType &  pose,
geometry_msgs::Pose pose_msg 
)

Convert a SE2StateSpace::StateType to a pose message.

Parameters:
pose- an object of type SE2StateSpace::StateType
pose_msg- the resultant pose message

Definition at line 689 of file ompl_ros_conversions.cpp.

void ompl_ros_interface::SE3StateSpaceToPoseMsg ( const ompl::base::SE3StateSpace::StateType &  pose,
geometry_msgs::Pose pose_msg 
)

Convert a SE3StateSpace::StateType to a pose message.

Parameters:
pose- an object of type SE3StateSpace::StateType
pose_msg- the resultant pose message

Definition at line 668 of file ompl_ros_conversions.cpp.

void ompl_ros_interface::SO3StateSpaceToPoseMsg ( const ompl::base::SO3StateSpace::StateType &  quaternion,
geometry_msgs::Pose pose_msg 
)

Convert a SO3StateSpace::StateType to a pose message.

Parameters:
pose- an object of type SO3StateSpace::StateType
pose_msg- the resultant pose message

Definition at line 683 of file ompl_ros_conversions.cpp.

void ompl_ros_interface::SO3StateSpaceToQuaternionMsg ( const ompl::base::SO3StateSpace::StateType &  quaternion,
geometry_msgs::Quaternion &  quaternion_msg 
)

Convert a SO3StateSpace::StateType to a quaternion message.

Parameters:
pose- an object of type SO3StateSpace::StateType
quaternion_msg- the resultant quaternion message

Definition at line 698 of file ompl_ros_conversions.cpp.



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