Forces the goal cartesian tool pose into the task space. More...

Inheritance diagram for stomp_moveit::update_filters::ConstrainedCartesianGoal:

Public Member Functions
virtual bool	configure (const XmlRpc::XmlRpcValue &config) override
	Sets internal members of the plugin from the configuration data.
	ConstrainedCartesianGoal ()
virtual bool	filter (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, const Eigen::MatrixXd &parameters, Eigen::MatrixXd &updates, bool &filtered) override
	Forces the goal to be within the tool's task manifold.
virtual std::string	getGroupName () const
virtual std::string	getName () const
virtual bool	initialize (moveit::core::RobotModelConstPtr robot_model_ptr, const std::string &group_name, const XmlRpc::XmlRpcValue &config) override
	Initializes and configures.
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
	Stores the planning details.
virtual	~ConstrainedCartesianGoal ()
Protected Attributes
std::string	group_name_
utils::kinematics::KinematicConfig	kc_
std::string	name_
moveit::core::RobotModelConstPtr	robot_model_
moveit::core::RobotStatePtr	state_
std::string	tool_link_

Detailed Description

Forces the goal cartesian tool pose into the task space.

Constructor & Destructor Documentation

stomp_moveit::update_filters::ConstrainedCartesianGoal::ConstrainedCartesianGoal ( )

stomp_moveit::update_filters::ConstrainedCartesianGoal::~ConstrainedCartesianGoal ( ) [virtual]

bool stomp_moveit::update_filters::ConstrainedCartesianGoal::configure ( const XmlRpc::XmlRpcValue & config ) [override, virtual]

Sets internal members of the plugin from the configuration data.

Parameters:

config The configuration data. Usually loaded from the ros parameter server

bool stomp_moveit::update_filters::ConstrainedCartesianGoal::filter	(	std::size_t	start_timestep,
		std::size_t	num_timesteps,
		int	iteration_number,
		const Eigen::MatrixXd &	parameters,
		Eigen::MatrixXd &	updates,
		bool &	filtered
	)		`[override, virtual]`

Forces the goal to be within the tool's task manifold.

Parameters:

start_timestep	The start index into the 'parameters' array, usually 0.
num_timesteps	The number of elements to use from 'parameters' starting from 'start_timestep'.
iteration_number	The current iteration count in the optimization loop.
parameters	The current parameter values [num_dimensions x num_timesteps]
updates	The output updates to be applied to the parameters [num_dimensions x num_timesteps]
filtered	Set to 'true' if the updates were modified, false otherwise

virtual std::string stomp_moveit::update_filters::ConstrainedCartesianGoal::getGroupName ( ) const [inline, virtual]

virtual std::string stomp_moveit::update_filters::ConstrainedCartesianGoal::getName ( ) const [inline, virtual]

bool stomp_moveit::update_filters::ConstrainedCartesianGoal::initialize	(	moveit::core::RobotModelConstPtr	robot_model_ptr,
		const std::string &	group_name,
		const XmlRpc::XmlRpcValue &	config
	)		`[override, virtual]`

Initializes and configures.

Parameters:

robot_model_ptr	A pointer to the robot model.
group_name	The designated planning group.
config	The configuration data. Usually loaded from the ros parameter server

bool stomp_moveit::update_filters::ConstrainedCartesianGoal::setMotionPlanRequest	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const moveit_msgs::MotionPlanRequest &	req,
		const stomp_core::StompConfiguration &	config,
		moveit_msgs::MoveItErrorCodes &	error_code
	)		`[override, virtual]`