Publishes rviz markers to visualize the noisy trajectories. More...
#include <multi_trajectory_visualization.h>
Public Member Functions | |
virtual bool | configure (const XmlRpc::XmlRpcValue &config) override |
see base class for documentation | |
virtual bool | filter (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, int rollout_number, Eigen::MatrixXd ¶meters, bool &filtered) override |
Creates rviz markers for visualizing the noisy trajectories, it does not change the parameters. | |
virtual std::string | getGroupName () const override |
virtual std::string | getName () const override |
virtual bool | initialize (moveit::core::RobotModelConstPtr robot_model_ptr, const std::string &group_name, const XmlRpc::XmlRpcValue &config) override |
see base class for documentation | |
MultiTrajectoryVisualization () | |
virtual bool | setMotionPlanRequest (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::MotionPlanRequest &req, const stomp_core::StompConfiguration &config, moveit_msgs::MoveItErrorCodes &error_code) override |
see base class for documentation | |
virtual | ~MultiTrajectoryVisualization () |
Protected Attributes | |
std::string | group_name_ |
double | line_width_ |
std::string | marker_namespace_ |
std::string | marker_topic_ |
std::string | name_ |
ros::NodeHandle | nh_ |
std_msgs::ColorRGBA | rgb_ |
moveit::core::RobotModelConstPtr | robot_model_ |
moveit::core::RobotStatePtr | state_ |
visualization_msgs::MarkerArray | tool_points_markers_ |
Eigen::MatrixXd | tool_traj_line_ |
visualization_msgs::MarkerArray | tool_traj_markers_ |
std::size_t | traj_total_ |
ros::Publisher | viz_pub_ |
Publishes rviz markers to visualize the noisy trajectories.
Definition at line 49 of file multi_trajectory_visualization.h.
Definition at line 94 of file multi_trajectory_visualization.cpp.
stomp_moveit::noisy_filters::MultiTrajectoryVisualization::~MultiTrajectoryVisualization | ( | ) | [virtual] |
Definition at line 103 of file multi_trajectory_visualization.cpp.
bool stomp_moveit::noisy_filters::MultiTrajectoryVisualization::configure | ( | const XmlRpc::XmlRpcValue & | config | ) | [override, virtual] |
see base class for documentation
Implements stomp_moveit::noisy_filters::StompNoisyFilter.
Definition at line 126 of file multi_trajectory_visualization.cpp.
bool stomp_moveit::noisy_filters::MultiTrajectoryVisualization::filter | ( | std::size_t | start_timestep, |
std::size_t | num_timesteps, | ||
int | iteration_number, | ||
int | rollout_number, | ||
Eigen::MatrixXd & | parameters, | ||
bool & | filtered | ||
) | [override, virtual] |
Creates rviz markers for visualizing the noisy trajectories, it does not change the parameters.
start_timestep | Start index into the 'parameters' array, usually 0. |
num_timesteps | Number of elements to use from 'parameters' starting from 'start_timestep' |
iteration_number | The current iteration count in the optimization loop. |
rollout_number | Index of the noisy trajectory whose cost is being evaluated. |
parameters | Output argument containing the parameters to be filtered [num_dimensions x num_timesteps]. |
filtered | Output argument that's set to 'true' if the parameters were changed according to the filtering method. |
Implements stomp_moveit::noisy_filters::StompNoisyFilter.
Definition at line 214 of file multi_trajectory_visualization.cpp.
virtual std::string stomp_moveit::noisy_filters::MultiTrajectoryVisualization::getGroupName | ( | ) | const [inline, override, virtual] |
Reimplemented from stomp_moveit::noisy_filters::StompNoisyFilter.
Definition at line 92 of file multi_trajectory_visualization.h.
virtual std::string stomp_moveit::noisy_filters::MultiTrajectoryVisualization::getName | ( | ) | const [inline, override, virtual] |
Reimplemented from stomp_moveit::noisy_filters::StompNoisyFilter.
Definition at line 87 of file multi_trajectory_visualization.h.
bool stomp_moveit::noisy_filters::MultiTrajectoryVisualization::initialize | ( | moveit::core::RobotModelConstPtr | robot_model_ptr, |
const std::string & | group_name, | ||
const XmlRpc::XmlRpcValue & | config | ||
) | [override, virtual] |
see base class for documentation
Implements stomp_moveit::noisy_filters::StompNoisyFilter.
Definition at line 109 of file multi_trajectory_visualization.cpp.
bool stomp_moveit::noisy_filters::MultiTrajectoryVisualization::setMotionPlanRequest | ( | const planning_scene::PlanningSceneConstPtr & | planning_scene, |
const moveit_msgs::MotionPlanRequest & | req, | ||
const stomp_core::StompConfiguration & | config, | ||
moveit_msgs::MoveItErrorCodes & | error_code | ||
) | [override, virtual] |
see base class for documentation
Implements stomp_moveit::noisy_filters::StompNoisyFilter.
Definition at line 168 of file multi_trajectory_visualization.cpp.
std::string stomp_moveit::noisy_filters::MultiTrajectoryVisualization::group_name_ [protected] |
Definition at line 103 of file multi_trajectory_visualization.h.
double stomp_moveit::noisy_filters::MultiTrajectoryVisualization::line_width_ [protected] |
Definition at line 112 of file multi_trajectory_visualization.h.
std::string stomp_moveit::noisy_filters::MultiTrajectoryVisualization::marker_namespace_ [protected] |
Definition at line 115 of file multi_trajectory_visualization.h.
std::string stomp_moveit::noisy_filters::MultiTrajectoryVisualization::marker_topic_ [protected] |
Definition at line 114 of file multi_trajectory_visualization.h.
std::string stomp_moveit::noisy_filters::MultiTrajectoryVisualization::name_ [protected] |
Definition at line 100 of file multi_trajectory_visualization.h.
Definition at line 108 of file multi_trajectory_visualization.h.
std_msgs::ColorRGBA stomp_moveit::noisy_filters::MultiTrajectoryVisualization::rgb_ [protected] |
Definition at line 113 of file multi_trajectory_visualization.h.
moveit::core::RobotModelConstPtr stomp_moveit::noisy_filters::MultiTrajectoryVisualization::robot_model_ [protected] |
Definition at line 104 of file multi_trajectory_visualization.h.
moveit::core::RobotStatePtr stomp_moveit::noisy_filters::MultiTrajectoryVisualization::state_ [protected] |
Definition at line 105 of file multi_trajectory_visualization.h.
visualization_msgs::MarkerArray stomp_moveit::noisy_filters::MultiTrajectoryVisualization::tool_points_markers_ [protected] |
Definition at line 121 of file multi_trajectory_visualization.h.
Eigen::MatrixXd stomp_moveit::noisy_filters::MultiTrajectoryVisualization::tool_traj_line_ [protected] |
Definition at line 119 of file multi_trajectory_visualization.h.
visualization_msgs::MarkerArray stomp_moveit::noisy_filters::MultiTrajectoryVisualization::tool_traj_markers_ [protected] |
Definition at line 120 of file multi_trajectory_visualization.h.
std::size_t stomp_moveit::noisy_filters::MultiTrajectoryVisualization::traj_total_ [protected] |
Definition at line 118 of file multi_trajectory_visualization.h.
Definition at line 109 of file multi_trajectory_visualization.h.