#include <model_based_state_space.h>

Inheritance diagram for ompl_interface::ModelBasedStateSpace:

Classes
class	StateType
Public Member Functions
virtual ompl::base::State *	allocState () const
virtual ompl::base::StateSamplerPtr	allocStateSampler () const
virtual ompl::base::StateSamplerPtr	allocSubspaceStateSampler (const ompl::base::StateSpace *subspace) const
virtual void	copyState (ompl::base::State destination, const ompl::base::State source) const
void	copyToOMPLState (ompl::base::State *state, const robot_state::RobotState &kstate) const
	Copy the data from a value vector that corresponds to the state of the considered joint model group (or array of joints)
virtual void	copyToOMPLState (ompl::base::State state, const robot_state::JointStateGroup jsg) const
	Copy the data from a set of joint states to an OMPL state. The join states must be specified in the same order as the joint models in the constructor.
virtual void	copyToRobotState (robot_state::JointStateGroup jsg, const ompl::base::State state) const
	Copy the data from an OMPL state to a set of joint states. The join states must be specified in the same order as the joint models in the constructor.
void	copyToRobotState (robot_state::RobotState &kstate, const ompl::base::State *state) const
	Copy the data from an OMPL state to a kinematic state. The join states must be specified in the same order as the joint models in the constructor. This function is implemented in terms of the previous definition with the same name.
virtual void	deserialize (ompl::base::State state, const void serialization) const
virtual double	distance (const ompl::base::State state1, const ompl::base::State state2) const
virtual void	freeState (ompl::base::State *state) const
const robot_model::JointModelGroup *	getJointModelGroup () const
const std::string &	getJointModelGroupName () const
const std::vector < robot_model::JointModel::Bounds > &	getJointsBounds () const
virtual double	getMaximumExtent () const
const robot_model::RobotModelConstPtr &	getRobotModel () const
virtual unsigned int	getSerializationLength () const
const ModelBasedStateSpaceSpecification &	getSpecification () const
double	getTagSnapToSegment () const
virtual void	interpolate (const ompl::base::State from, const ompl::base::State to, const double t, ompl::base::State *state) const
	ModelBasedStateSpace (const ModelBasedStateSpaceSpecification &spec)
virtual void	printState (const ompl::base::State *state, std::ostream &out) const
virtual void	serialize (void serialization, const ompl::base::State state) const
void	setDistanceFunction (const DistanceFunction &fun)
void	setInterpolationFunction (const InterpolationFunction &fun)
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.
void	setTagSnapToSegment (double snap)
virtual	~ModelBasedStateSpace ()
Protected Member Functions
virtual void	afterStateSample (ompl::base::State *sample) const
Protected Attributes
DistanceFunction	distance_function_
InterpolationFunction	interpolation_function_
unsigned int	jointSubspaceCount_
ModelBasedStateSpaceSpecification	spec_
double	tag_snap_to_segment_
double	tag_snap_to_segment_complement_
Friends
class	WrappedStateSampler

Detailed Description

Definition at line 71 of file model_based_state_space.h.

Constructor & Destructor Documentation

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

expose parameters

Definition at line 40 of file model_based_state_space.cpp.

ompl_interface::ModelBasedStateSpace::~ModelBasedStateSpace ( ) [virtual]

Definition at line 72 of file model_based_state_space.cpp.

Member Function Documentation

void ompl_interface::ModelBasedStateSpace::afterStateSample ( ompl::base::State * sample ) const [protected, virtual]

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 177 of file model_based_state_space.cpp.

ompl::base::State * ompl_interface::ModelBasedStateSpace::allocState ( ) const [virtual]

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 92 of file model_based_state_space.cpp.

ompl::base::StateSamplerPtr ompl_interface::ModelBasedStateSpace::allocStateSampler ( ) const [virtual]

Definition at line 221 of file model_based_state_space.cpp.

ompl::base::StateSamplerPtr ompl_interface::ModelBasedStateSpace::allocSubspaceStateSampler ( const ompl::base::StateSpace * subspace ) const [virtual]

Definition at line 216 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::copyState	(	ompl::base::State *	destination,
		const ompl::base::State *	source
	)		const `[virtual]`

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 104 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::copyToOMPLState	(	ompl::base::State *	state,
		const robot_state::RobotState &	kstate
	)		const `[inline]`

Copy the data from a value vector that corresponds to the state of the considered joint model group (or array of joints)

Copy the data from a kinematic state to an OMPL state. Only needed joint states are copied. This function is implemented in terms of the previous definition with the same name.

Definition at line 237 of file model_based_state_space.h.

void ompl_interface::ModelBasedStateSpace::copyToOMPLState	(	ompl::base::State *	state,
		const robot_state::JointStateGroup *	jsg
	)		const `[virtual]`

Copy the data from a set of joint states to an OMPL state. The join states must be specified in the same order as the joint models in the constructor.

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 257 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::copyToRobotState	(	robot_state::JointStateGroup *	jsg,
		const ompl::base::State *	state
	)		const `[virtual]`

Copy the data from an OMPL state to a set of joint states. The join states must be specified in the same order as the joint models in the constructor.

Definition at line 249 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::copyToRobotState	(	robot_state::RobotState &	kstate,
		const ompl::base::State *	state
	)		const `[inline]`

Copy the data from an OMPL state to a kinematic state. The join states must be specified in the same order as the joint models in the constructor. This function is implemented in terms of the previous definition with the same name.

Definition at line 228 of file model_based_state_space.h.

void ompl_interface::ModelBasedStateSpace::deserialize	(	ompl::base::State *	state,
		const void *	serialization
	)		const `[virtual]`

Definition at line 123 of file model_based_state_space.cpp.

double ompl_interface::ModelBasedStateSpace::distance	(	const ompl::base::State *	state1,
		const ompl::base::State *	state2
	)		const `[virtual]`

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 140 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::freeState ( ompl::base::State * state ) const [virtual]

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 99 of file model_based_state_space.cpp.

const robot_model::JointModelGroup* ompl_interface::ModelBasedStateSpace::getJointModelGroup ( ) const [inline]

Definition at line 199 of file model_based_state_space.h.

const std::string& ompl_interface::ModelBasedStateSpace::getJointModelGroupName ( ) const [inline]

Definition at line 204 of file model_based_state_space.h.

const std::vector<robot_model::JointModel::Bounds>& ompl_interface::ModelBasedStateSpace::getJointsBounds ( ) const [inline]

Definition at line 219 of file model_based_state_space.h.

double ompl_interface::ModelBasedStateSpace::getMaximumExtent ( void ) const [virtual]

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 129 of file model_based_state_space.cpp.

const robot_model::RobotModelConstPtr& ompl_interface::ModelBasedStateSpace::getRobotModel ( ) const [inline]

Definition at line 194 of file model_based_state_space.h.

unsigned int ompl_interface::ModelBasedStateSpace::getSerializationLength ( ) const [virtual]

Definition at line 112 of file model_based_state_space.cpp.

const ModelBasedStateSpaceSpecification& ompl_interface::ModelBasedStateSpace::getSpecification ( ) const [inline]

Definition at line 209 of file model_based_state_space.h.

double ompl_interface::ModelBasedStateSpace::getTagSnapToSegment ( ) const

Definition at line 76 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::interpolate	(	const ompl::base::State *	from,
		const ompl::base::State *	to,
		const double	t,
		ompl::base::State *	state
	)		const `[virtual]`

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 156 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::printState	(	const ompl::base::State *	state,
		std::ostream &	out
	)		const `[virtual]`

Definition at line 226 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::serialize	(	void *	serialization,
		const ompl::base::State *	state
	)		const `[virtual]`

Definition at line 117 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::setDistanceFunction ( const DistanceFunction & fun ) [inline]

Definition at line 175 of file model_based_state_space.h.

void ompl_interface::ModelBasedStateSpace::setInterpolationFunction ( const InterpolationFunction & fun ) [inline]

Definition at line 170 of file model_based_state_space.h.

void ompl_interface::ModelBasedStateSpace::setPlanningVolume	(	double	minX,
		double	maxX,
		double	minY,
		double	maxY,
		double	minZ,
		double	maxZ
	)		`[virtual]`