ompl_interface::PoseModelStateSpace Class Reference

#include <pose_model_state_space.h>

Inheritance diagram for ompl_interface::PoseModelStateSpace:

List of all members.

Classes
struct	PoseComponent
class	StateType
Public Member Functions
virtual ompl::base::StateSamplerPtr	allocDefaultStateSampler () const
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::RobotState &rstate) const
	Copy the data from a set of joint states to an OMPL state.
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 Attributes
double	jump_factor_
std::vector< PoseComponent >	poses_

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Detailed Description

Definition at line 46 of file pose_model_state_space.h.

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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 63 of file pose_model_state_space.cpp.

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Member Function Documentation

ompl::base::StateSamplerPtr ompl_interface::PoseModelStateSpace::allocDefaultStateSampler

(

)

const [virtual]

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 286 of file pose_model_state_space.cpp.

ompl::base::State * ompl_interface::PoseModelStateSpace::allocState

(

)

const [virtual]

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 83 of file pose_model_state_space.cpp.

bool ompl_interface::PoseModelStateSpace::computeStateFK

(

ompl::base::State *

state

)

const

Definition at line 246 of file pose_model_state_space.cpp.

bool ompl_interface::PoseModelStateSpace::computeStateIK

(

ompl::base::State *

state

)

const

Definition at line 260 of file pose_model_state_space.cpp.

bool ompl_interface::PoseModelStateSpace::computeStateK

(

ompl::base::State *

state

)

const

Definition at line 274 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 101 of file pose_model_state_space.cpp.

void ompl_interface::PoseModelStateSpace::copyToOMPLState	(	ompl::base::State *	state,
		const robot_state::RobotState &	rstate
	)		const [virtual]

Copy the data from a set of joint states to an OMPL state.

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 332 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 67 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 93 of file pose_model_state_space.cpp.

double ompl_interface::PoseModelStateSpace::getMaximumExtent

(

)

const [virtual]

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 75 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]

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 118 of file pose_model_state_space.cpp.

void ompl_interface::PoseModelStateSpace::sanityChecks

(

)

const [virtual]

Definition at line 113 of file pose_model_state_space.cpp.

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

Set the planning volume for the possible SE2 and/or SE3 components of the state space.

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 157 of file pose_model_state_space.cpp.

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Member Data Documentation

double ompl_interface::PoseModelStateSpace::jump_factor_ [private]

Definition at line 140 of file pose_model_state_space.h.

const std::string ompl_interface::PoseModelStateSpace::PARAMETERIZATION_TYPE = "PoseModel" [static]

Definition at line 50 of file pose_model_state_space.h.

std::vector<PoseComponent> ompl_interface::PoseModelStateSpace::poses_ [private]

Definition at line 139 of file pose_model_state_space.h.

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

• pose_model_state_space.h
• pose_model_state_space.cpp