Namespaces | Functions | Variables
collision_check.cpp File Reference

This defines a cost function for collision checking. More...

#include <ros/console.h>
#include <pluginlib/class_list_macros.h>
#include <moveit/robot_state/conversions.h>
#include "stomp_moveit/cost_functions/collision_check.h"
Include dependency graph for collision_check.cpp:

Go to the source code of this file.

Namespaces

namespace  stomp_moveit
namespace  stomp_moveit::cost_functions

Functions

static void applyKernelSmoothing (std::size_t window_size, const Eigen::VectorXd &data, Eigen::VectorXd &smoothed)
 Convenience method that propagates the cost value at center to the window to the adjacent points.

Variables

static const int MIN_KERNEL_WINDOW_SIZE = 3

Detailed Description

This defines a cost function for collision checking.

Author:
Jorge Nicho
Date:
March 30, 2016
Version:
TODO
Bug:
No known bugs
License
Software License Agreement (Apache License)
Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Definition in file collision_check.cpp.


Function Documentation

static void applyKernelSmoothing ( std::size_t  window_size,
const Eigen::VectorXd &  data,
Eigen::VectorXd &  smoothed 
) [static]

Convenience method that propagates the cost value at center to the window to the adjacent points.

Parameters:
window_sizeSize of the kernel, must be less than the size of the 'data' array.
dataThe original data vector
smoothedThe smoothed data after applying the kernel.

Definition at line 41 of file collision_check.cpp.


Variable Documentation

const int MIN_KERNEL_WINDOW_SIZE = 3 [static]

Definition at line 33 of file collision_check.cpp.



stomp_moveit
Author(s): Jorge Nicho
autogenerated on Sat Jun 8 2019 19:24:01