stomp_planner.cpp File Reference

This defines the stomp planner for MoveIt. More...

#include <ros/ros.h>
#include <moveit/robot_state/conversions.h>
#include <stomp_moveit/stomp_planner.h>
#include <class_loader/class_loader.h>
#include <stomp_core/utils.h>
#include <moveit/trajectory_processing/iterative_time_parameterization.h>
#include <stomp_moveit/utils/kinematics.h>
#include <stomp_moveit/utils/polynomial.h>

Include dependency graph for stomp_planner.cpp:

Go to the source code of this file.

Namespaces
namespace	stomp_moveit
Functions
bool	parseConfig (XmlRpc::XmlRpcValue config, const moveit::core::JointModelGroup *group, stomp_core::StompConfiguration &stomp_config)
	Parses a XmlRpcValue and populates a StompComfiguration structure.
Variables
static const std::string	DESCRIPTION = "STOMP"
static int const	IK_ATTEMPTS = 10
static int const	IK_TIMEOUT = 0.05
static const double	MAX_START_DISTANCE_THRESH = 0.5
static const double	TIMEOUT_INTERVAL = 0.05

---

Detailed Description

This defines the stomp planner for MoveIt.

Author:

Jorge Nicho

Date:

April 4, 2016

Version:

TODO

Bug:

No known bugs

Copyright:

Copyright (c) 2016, Southwest Research Institute

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 stomp_planner.cpp.

---

Function Documentation

bool parseConfig	(	XmlRpc::XmlRpcValue	config,
		const moveit::core::JointModelGroup *	group,
		stomp_core::StompConfiguration &	stomp_config
	)

Parses a XmlRpcValue and populates a StompComfiguration structure.

Parameters:

config	The XmlRpcValue of stomp configuration parameters
group	The moveit planning group
stomp_config	The stomp configuration structure

Returns:

True if sucessfully parsed, otherwise false.

Definition at line 49 of file stomp_planner.cpp.

---

Variable Documentation

const std::string DESCRIPTION = "STOMP" [static]

Definition at line 36 of file stomp_planner.cpp.

int const IK_ATTEMPTS = 10 [static]

Definition at line 38 of file stomp_planner.cpp.

int const IK_TIMEOUT = 0.05 [static]

Definition at line 39 of file stomp_planner.cpp.

const double MAX_START_DISTANCE_THRESH = 0.5 [static]

Definition at line 40 of file stomp_planner.cpp.

const double TIMEOUT_INTERVAL = 0.05 [static]

Definition at line 37 of file stomp_planner.cpp.