#include <avoid_obstacles.h>

Inheritance diagram for constrained_ik::constraints::AvoidObstacles:

Classes
struct	AvoidObstaclesData
	This structure stores constraint data. More...
struct	LinkAvoidance
	Link avoidance data for a single link. More...
Public Member Functions
virtual void	addAvoidanceLink (const std::string &link_name)
	Adds an obstacle avoidance link.
virtual Eigen::VectorXd	calcError (const AvoidObstaclesData &cdata, const LinkAvoidance &link) const
	Creates vector representing velocity error term corresponding to calcJacobian()
virtual Eigen::MatrixXd	calcJacobian (const AvoidObstaclesData &cdata, const LinkAvoidance &link) const
	Creates Jacobian for avoiding a collision with link closest to a collision.
virtual bool	checkStatus (const AvoidObstaclesData &cdata, const LinkAvoidance &link) const
	Checks termination criteria There are no termination criteria for this constraint.
constrained_ik::ConstraintResults	evalConstraint (const SolverState &state) const override
	see base class for documentation
virtual double	getAmplitude (const std::string &link_name) const
	getter for link amplitude
virtual double	getAvoidanceDistance (const std::string &link_name) const
	getter for link avoidance distance
virtual std::vector< std::string >	getAvoidanceLinkNames () const
	getter for obstacle avoidance links
virtual double	getMinDistance (const std::string &link_name) const
	getter for link min_distance_
virtual double	getWeight (const std::string &link_name) const
	getter for link weight_
void	init (const Constrained_IK *ik) override
	Initialize constraint (overrides Constraint::init) Should be called before using class.
void	loadParameters (const XmlRpc::XmlRpcValue &constraint_xml) override
	see base class for documentation
virtual void	setAmplitude (const std::string &link_name, const double &amplitude)
	setter for link amplitude
virtual void	setAvoidanceDistance (const std::string &link_name, const double &avoidance_distance)
	setter for link avoidance distance
virtual void	setAvoidanceLinks (const std::vector< std::string > &link_names)
	setter for obstacle avoidance links
virtual void	setMinDistance (const std::string &link_name, const double &min_distance)
	setter for link min_distance_
virtual void	setWeight (const std::string &link_name, const double &weight)
	setter for link weight_
virtual void	updateDistanceThreshold ()
	This updates the maximum distance threshold.
Protected Member Functions
LinkAvoidance *	getLinkData (const std::string link_name)
	Get a links avoidance data.
const LinkAvoidance *const	getLinkData (const std::string link_name) const
	Get a links avoidance data.
Protected Attributes
double	distance_threshold_
	a distance threshold used to speed up distance queries
std::set< const robot_model::LinkModel * >	link_models_
	a set of LinkModel for each link in link_names_
std::vector< std::string >	link_names_
	list of links that should avoid obstacles
std::map< std::string, LinkAvoidance >	links_
	map from link name to its avoidance data

Detailed Description

Constraint to avoid obstacles.

Examples:: All examples are located here Avoid Joint Limit Constraint Examples

Definition at line 50 of file avoid_obstacles.h.

Member Function Documentation

virtual void constrained_ik::constraints::AvoidObstacles::addAvoidanceLink ( const std::string & link_name ) [inline, virtual]

Adds an obstacle avoidance link.

Parameters:

link_name Name of link to add to link_names_

Definition at line 318 of file avoid_obstacles.h.

VectorXd constrained_ik::constraints::AvoidObstacles::calcError	(	const AvoidObstaclesData &	cdata,
		const LinkAvoidance &	link
	)		const `[virtual]`

Creates vector representing velocity error term corresponding to calcJacobian()

Parameters:

cdata	The constraint specific data.
link	The link to process

Returns:: VectorXd of joint velocities for obstacle avoidance scaled by weight

Definition at line 202 of file avoid_obstacles.cpp.

MatrixXd constrained_ik::constraints::AvoidObstacles::calcJacobian	(	const AvoidObstaclesData &	cdata,
		const LinkAvoidance &	link
	)		const `[virtual]`

Creates Jacobian for avoiding a collision with link closest to a collision.

Parameters:

cdata	The constraint specific data.
link	The link to process

Returns:: Jacobian scaled by weight

Definition at line 223 of file avoid_obstacles.cpp.

bool constrained_ik::constraints::AvoidObstacles::checkStatus	(	const AvoidObstaclesData &	cdata,
		const LinkAvoidance &	link
	)		const `[virtual]`

Checks termination criteria There are no termination criteria for this constraint.

Parameters:

cdata	The constraint specific data.
link	The link to process

Returns:: True

Definition at line 258 of file avoid_obstacles.cpp.

virtual double constrained_ik::constraints::AvoidObstacles::getAmplitude ( const std::string & link_name ) const [inline, virtual]

getter for link amplitude

Parameters:

link_name Name of link to get amplitude data

Returns:: amplitude_ On error -1.0 is returned

Definition at line 239 of file avoid_obstacles.h.

virtual double constrained_ik::constraints::AvoidObstacles::getAvoidanceDistance ( const std::string & link_name ) const [inline, virtual]

getter for link avoidance distance

Parameters:

link_name Name of link to get avoidance distance data

Returns:: avoidance_distance_ On error -1.0 is returned

Definition at line 265 of file avoid_obstacles.h.

virtual std::vector<std::string> constrained_ik::constraints::AvoidObstacles::getAvoidanceLinkNames ( ) const [inline, virtual]

getter for obstacle avoidance links

Returns:: link_names_

Definition at line 293 of file avoid_obstacles.h.

LinkAvoidance* constrained_ik::constraints::AvoidObstacles::getLinkData ( const std::string link_name ) [inline, protected]

Get a links avoidance data.

Parameters:

link_name name of the link

Returns:: LinkAvoidance object for named link

Definition at line 91 of file avoid_obstacles.h.

const LinkAvoidance* const constrained_ik::constraints::AvoidObstacles::getLinkData ( const std::string link_name ) const [inline, protected]

Get a links avoidance data.

Parameters:

link_name name of the link

Returns:: LinkAvoidance object for named link

Definition at line 111 of file avoid_obstacles.h.

virtual double constrained_ik::constraints::AvoidObstacles::getMinDistance ( const std::string & link_name ) const [inline, virtual]

getter for link min_distance_

Parameters:

link_name Name of link to get min_distance_

Returns:: min_distance_ On error -1.0 is returned

Definition at line 213 of file avoid_obstacles.h.

virtual double constrained_ik::constraints::AvoidObstacles::getWeight ( const std::string & link_name ) const [inline, virtual]

getter for link weight_

Parameters:

link_name Name of link to get weight_

Returns:: weight_ On error -1.0 is returned

Definition at line 187 of file avoid_obstacles.h.

void constrained_ik::constraints::AvoidObstacles::init ( const Constrained_IK * ik ) [override, virtual]

Initialize constraint (overrides Constraint::init) Should be called before using class.

Parameters:

ik	Pointer to Constrained_IK used for base-class init

Reimplemented from constrained_ik::Constraint.

Definition at line 59 of file avoid_obstacles.cpp.

virtual void constrained_ik::constraints::AvoidObstacles::setAmplitude	(	const std::string &	link_name,
		const double &	amplitude
	)		`[inline, virtual]`

setter for link amplitude

Parameters:

link_name	Name of link to set amplitude_
amplitude	Value to set amplitude_ to

Definition at line 253 of file avoid_obstacles.h.

virtual void constrained_ik::constraints::AvoidObstacles::setAvoidanceDistance	(	const std::string &	link_name,
		const double &	avoidance_distance
	)		`[inline, virtual]`

setter for link avoidance distance

Parameters:

link_name	Name of link to set avoidance_distance_
avoidance_distance	Value to set avoidance_distance_ to

Definition at line 279 of file avoid_obstacles.h.

virtual void constrained_ik::constraints::AvoidObstacles::setAvoidanceLinks ( const std::vector< std::string > & link_names ) [inline, virtual]

setter for obstacle avoidance links

Parameters:

link_names List of link names to set link_names_

Definition at line 302 of file avoid_obstacles.h.

virtual void constrained_ik::constraints::AvoidObstacles::setMinDistance	(	const std::string &	link_name,
		const double &	min_distance
	)		`[inline, virtual]`

setter for link min_distance_

Parameters:

link_name	Name of link to set min_distance_
min_distance	Value to set min_distance_ to

Definition at line 227 of file avoid_obstacles.h.

virtual void constrained_ik::constraints::AvoidObstacles::setWeight	(	const std::string &	link_name,
		const double &	weight
	)		`[inline, virtual]`

setter for link weight_

Parameters:

link_name	Name of link to set weight_
weight	Value to set weight_ to

Definition at line 201 of file avoid_obstacles.h.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation