ompl_ros_interface::OmplRosStateTransformer Class Reference

#include <ompl_ros_state_transformer.h>

Inheritance diagram for ompl_ros_interface::OmplRosStateTransformer:

List of all members.

Public Member Functions
virtual bool	configureOnRequest (const arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response)=0
	Configure the transformer when a request is received. This is typically a one time configuration for each planning request.
virtual bool	forwardTransform (const arm_navigation_msgs::RobotState &robot_state, ompl::base::State &ompl_state)=0
	Compute the forward transform (from physical state to planning state)
virtual arm_navigation_msgs::RobotState	getDefaultState ()=0
	Return a default state.
virtual std::string	getFrame ()
	Return the frame in which planning state space is defined.
virtual bool	initialize ()=0
	Custom initialization can be performed here.
virtual bool	inverseTransform (const ompl::base::State &ompl_state, arm_navigation_msgs::RobotState &robot_state)=0
	Compute the inverse transform (from planning state to physical state)
	OmplRosStateTransformer (const ompl::base::StateSpacePtr &state_space, const planning_models::KinematicModel::JointModelGroup *physical_joint_model_group)
	Default constructor.
	~OmplRosStateTransformer ()
	Default constructor.
Protected Attributes
const planning_models::KinematicModel::JointModelGroup *	physical_joint_model_group_
ompl::base::StateSpacePtr	state_space_

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Detailed Description

Definition at line 58 of file ompl_ros_state_transformer.h.

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Constructor & Destructor Documentation

ompl_ros_interface::OmplRosStateTransformer::OmplRosStateTransformer	(	const ompl::base::StateSpacePtr &	state_space,
		const planning_models::KinematicModel::JointModelGroup *	physical_joint_model_group
	)		[inline]

Default constructor.

Parameters:

state_space	- The state space that the planner is operating on
physical_joint_model_group	- The "physical" joint model group that the planner is operating on
frame_id	- The (possibly abstract) frame_id that the planner operates in. The frame_id in the planning request must match this frame_id.

Definition at line 67 of file ompl_ros_state_transformer.h.

ompl_ros_interface::OmplRosStateTransformer::~OmplRosStateTransformer

(

)

[inline]

Default constructor.

Definition at line 77 of file ompl_ros_state_transformer.h.

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Member Function Documentation

virtual bool ompl_ros_interface::OmplRosStateTransformer::configureOnRequest	(	const arm_navigation_msgs::GetMotionPlan::Request &	request,
		arm_navigation_msgs::GetMotionPlan::Response &	response
	)		[pure virtual]

Configure the transformer when a request is received. This is typically a one time configuration for each planning request.

Parameters:

request	The request that the planner gets
response	The response to the planning request

Implemented in ompl_ros_interface::OmplRosIKStateTransformer, and ompl_ros_interface::OmplRosRPYIKStateTransformer.

virtual bool ompl_ros_interface::OmplRosStateTransformer::forwardTransform	(	const arm_navigation_msgs::RobotState &	robot_state,
		ompl::base::State &	ompl_state
	)		[pure virtual]

Compute the forward transform (from physical state to planning state)

Parameters:

robot_State	- the physical state
ompl_state	- the corresponding planning state

Implemented in ompl_ros_interface::OmplRosIKStateTransformer, and ompl_ros_interface::OmplRosRPYIKStateTransformer.

virtual arm_navigation_msgs::RobotState ompl_ros_interface::OmplRosStateTransformer::getDefaultState

(

)

[pure virtual]

Return a default state.

Implemented in ompl_ros_interface::OmplRosIKStateTransformer, and ompl_ros_interface::OmplRosRPYIKStateTransformer.

virtual std::string ompl_ros_interface::OmplRosStateTransformer::getFrame

(

)

[inline, virtual]

Return the frame in which planning state space is defined.

Reimplemented in ompl_ros_interface::OmplRosIKStateTransformer.

Definition at line 112 of file ompl_ros_state_transformer.h.

virtual bool ompl_ros_interface::OmplRosStateTransformer::initialize

(

)

[pure virtual]

Custom initialization can be performed here.

Implemented in ompl_ros_interface::OmplRosIKStateTransformer, and ompl_ros_interface::OmplRosRPYIKStateTransformer.

virtual bool ompl_ros_interface::OmplRosStateTransformer::inverseTransform	(	const ompl::base::State &	ompl_state,
		arm_navigation_msgs::RobotState &	robot_state
	)		[pure virtual]

Compute the inverse transform (from planning state to physical state)

Parameters:

ompl_state	- the planning state
robot_State	- the corresponding physical state

Implemented in ompl_ros_interface::OmplRosIKStateTransformer, and ompl_ros_interface::OmplRosRPYIKStateTransformer.

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Member Data Documentation

const planning_models::KinematicModel::JointModelGroup* ompl_ros_interface::OmplRosStateTransformer::physical_joint_model_group_ [protected]

Definition at line 121 of file ompl_ros_state_transformer.h.

ompl::base::StateSpacePtr ompl_ros_interface::OmplRosStateTransformer::state_space_ [protected]

Definition at line 120 of file ompl_ros_state_transformer.h.

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

• ompl_ros_state_transformer.h