#include <pose_model_state_space.h>

Inheritance diagram for ompl_interface::PoseModelStateSpace:

Classes
struct	PoseComponent
class	StateType
	Add a tag to the state representation. More...
Public Member Functions
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::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 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.
virtual	~PoseModelStateSpace ()
Static Public Attributes
static const std::string	PARAMETERIZATION_TYPE = "PoseModel"
Private Member Functions
virtual void	afterStateSample (ompl::base::State *sample) const
void	constructSpaceFromPoses ()
Private Attributes
double	jump_factor_
std::vector< PoseComponent >	poses_

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 60 of file pose_model_state_space.cpp.

Member Function Documentation

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

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 299 of file pose_model_state_space.cpp.

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

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 91 of file pose_model_state_space.cpp.

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

Definition at line 259 of file pose_model_state_space.cpp.

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

Definition at line 273 of file pose_model_state_space.cpp.

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

Definition at line 287 of file pose_model_state_space.cpp.

void ompl_interface::PoseModelStateSpace::constructSpaceFromPoses ( ) [private]

Definition at line 64 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 103 of file pose_model_state_space.cpp.

void ompl_interface::PoseModelStateSpace::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 from ompl_interface::ModelBasedStateSpace.

Definition at line 311 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 75 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 98 of file pose_model_state_space.cpp.

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

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 83 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 `[virtual]`