Cartesian path planner for moveit. More...

#include <cartesian_planner.h>

Inheritance diagram for constrained_ik::CartesianPlanner:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CartesianPlanner (const std::string &name, const std::string &group)
	CartesianPlanner Constructor.
	CartesianPlanner (const CartesianPlanner &other)
	CartesianPlanner Copy Constructor.
void	clear () override
	Clear planner data.
bool	initializeSolver ()
	This will initialize the solver if it has not all ready.
void	resetSolverConfiguration ()
	Reset the planners IK solver configuration to it default settings.
void	setSolverConfiguration (const ConstrainedIKConfiguration &config)
	Set the planners IK solver configuration.
bool	solve (planning_interface::MotionPlanResponse &res) override
	Inverse Kinematic Solve.
bool	solve (planning_interface::MotionPlanDetailedResponse &res) override
	Inverse Kinematic Solve.
bool	terminate () override
	Terminate the active planner solve.
Private Member Functions
std::vector< Eigen::Affine3d, Eigen::aligned_allocator < Eigen::Affine3d > >	interpolateCartesian (const Eigen::Affine3d &start, const Eigen::Affine3d &stop, double ds, double dt) const
	Preform position and orientation interpolation between start and stop.
Private Attributes
boost::mutex	mutex_
std::string	robot_description_
robot_model::RobotModelConstPtr	robot_model_
boost::shared_ptr< Constrained_IK >	solver_
boost::atomic< bool >	terminate_

Detailed Description

Cartesian path planner for moveit.

This class is used to represent a cartesian path planner for moveit. It finds a straight line path between the start and goal position. This planner does not have the inherent ability to avoid collision. It does check if the path created is collision free before it returns a trajectory. If a collision is found it returns an empty trajectory and moveit error.

Definition at line 52 of file cartesian_planner.h.

Constructor & Destructor Documentation

constrained_ik::CartesianPlanner::CartesianPlanner	(	const std::string &	name,
		const std::string &	group
	)

CartesianPlanner Constructor.

Parameters:

name	of planner
group	of the planner

Definition at line 41 of file cartesian_planner.cpp.

constrained_ik::CartesianPlanner::CartesianPlanner ( const CartesianPlanner & other ) [inline]

CartesianPlanner Copy Constructor.

Parameters:

other cartesian planner

Definition at line 68 of file cartesian_planner.h.

Member Function Documentation

bool constrained_ik::CartesianPlanner::initializeSolver ( )

This will initialize the solver if it has not all ready.

Returns:: True if successful, otherwise false

Definition at line 51 of file cartesian_planner.cpp.

std::vector< Eigen::Affine3d, Eigen::aligned_allocator< Eigen::Affine3d > > constrained_ik::CartesianPlanner::interpolateCartesian	(	const Eigen::Affine3d &	start,
		const Eigen::Affine3d &	stop,
		double	ds,
		double	dt
	)		const `[private]`

Preform position and orientation interpolation between start and stop.

Parameters:

start	begining pose of trajectory
stop	end pose of trajectory
ds	max cartesian translation interpolation step
dt	max cartesian orientation interpolation step