Classes | Public Member Functions | Protected Attributes | List of all members
ompl_interface::ModelBasedStateSpace Class Reference

#include <model_based_state_space.h>

Inheritance diagram for ompl_interface::ModelBasedStateSpace:
Inheritance graph
[legend]

Classes

class  StateType
 

Public Member Functions

virtual ompl::base::StateSamplerPtr allocDefaultStateSampler () const
 
virtual ompl::base::State * allocState () const
 
virtual void copyJointToOMPLState (ompl::base::State *state, const robot_state::RobotState &robot_state, const moveit::core::JointModel *joint_model, int ompl_state_joint_index) const
 Copy a single joint's values (which might have multiple variables) from a MoveIt! robot_state to an OMPL state. More...
 
virtual void copyState (ompl::base::State *destination, const ompl::base::State *source) const
 
virtual void copyToOMPLState (ompl::base::State *state, const robot_state::RobotState &rstate) const
 Copy the data from a set of joint states to an OMPL state. More...
 
virtual void copyToRobotState (robot_state::RobotState &rstate, const ompl::base::State *state) const
 Copy the data from an OMPL state to a set of joint states. More...
 
virtual void deserialize (ompl::base::State *state, const void *serialization) const
 
virtual double distance (const ompl::base::State *state1, const ompl::base::State *state2) const
 
virtual void enforceBounds (ompl::base::State *state) const
 
virtual bool equalStates (const ompl::base::State *state1, const ompl::base::State *state2) const
 
virtual void freeState (ompl::base::State *state) const
 
virtual unsigned int getDimension () const
 
const robot_model::JointModelGroup * getJointModelGroup () const
 
const std::string & getJointModelGroupName () const
 
const robot_model::JointBoundsVector & getJointsBounds () const
 
virtual double getMaximumExtent () const
 
virtual double getMeasure () const
 
const robot_model::RobotModelConstPtr & getRobotModel () const
 
virtual unsigned int getSerializationLength () const
 
const ModelBasedStateSpaceSpecification & getSpecification () const
 
double getTagSnapToSegment () const
 
virtual double * getValueAddressAtIndex (ompl::base::State *state, const unsigned int index) const
 
virtual void interpolate (const ompl::base::State *from, const ompl::base::State *to, const double t, ompl::base::State *state) const
 
 ModelBasedStateSpace (const ModelBasedStateSpaceSpecification &spec)
 
virtual void printSettings (std::ostream &out) const
 
virtual void printState (const ompl::base::State *state, std::ostream &out) const
 
virtual bool satisfiesBounds (const ompl::base::State *state) const
 
virtual void serialize (void *serialization, const ompl::base::State *state) const
 
void setDistanceFunction (const DistanceFunction &fun)
 
void setInterpolationFunction (const InterpolationFunction &fun)
 
virtual void setPlanningVolume (double minX, double maxX, double minY, double maxY, double minZ, double maxZ)
 Set the planning volume for the possible SE2 and/or SE3 components of the state space. More...
 
void setTagSnapToSegment (double snap)
 
virtual ~ModelBasedStateSpace ()
 

Protected Attributes

DistanceFunction distance_function_
 
InterpolationFunction interpolation_function_
 
std::vector< robot_model::JointModel::Bounds > joint_bounds_storage_
 
std::vector< const robot_model::JointModel * > joint_model_vector_
 
ModelBasedStateSpaceSpecification spec_
 
size_t state_values_size_
 
double tag_snap_to_segment_
 
double tag_snap_to_segment_complement_
 
unsigned int variable_count_
 

Detailed Description

Definition at line 74 of file model_based_state_space.h.

Constructor & Destructor Documentation

ompl_interface::ModelBasedStateSpace::ModelBasedStateSpace ( const ModelBasedStateSpaceSpecification &  spec)

expose parameters

Definition at line 40 of file model_based_state_space.cpp.

ompl_interface::ModelBasedStateSpace::~ModelBasedStateSpace ( )
virtual

Definition at line 78 of file model_based_state_space.cpp.

Member Function Documentation

ompl::base::StateSamplerPtr ompl_interface::ModelBasedStateSpace::allocDefaultStateSampler ( ) const
virtual

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 250 of file model_based_state_space.cpp.

ompl::base::State * ompl_interface::ModelBasedStateSpace::allocState ( ) const
virtual

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 101 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::copyJointToOMPLState ( ompl::base::State *  state,
const robot_state::RobotState &  robot_state,
const moveit::core::JointModel *  joint_model,
int  ompl_state_joint_index 
) const
virtual

Copy a single joint's values (which might have multiple variables) from a MoveIt! robot_state to an OMPL state.

Parameters
state- output OMPL state with single joint modified
robot_state- input MoveIt! state to get the joint value from
joint_model- the joint to copy values of
ompl_state_joint_index- the index of the joint in the ompl state (passed in for efficiency, you should cache this index) e.g. ompl_state_joint_index = joint_model_group_->getVariableGroupIndex("virtual_joint");

Definition at line 335 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::copyState ( ompl::base::State *  destination,
const ompl::base::State *  source 
) const
virtual

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 114 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::copyToOMPLState ( ompl::base::State *  state,
const robot_state::RobotState &  rstate 
) const
virtual

Copy the data from a set of joint states to an OMPL state.

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 327 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::copyToRobotState ( robot_state::RobotState &  rstate,
const ompl::base::State *  state 
) const
virtual

Copy the data from an OMPL state to a set of joint states.

Definition at line 320 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::deserialize ( ompl::base::State *  state,
const void *  serialization 
) const
virtual

Definition at line 134 of file model_based_state_space.cpp.

double ompl_interface::ModelBasedStateSpace::distance ( const ompl::base::State *  state1,
const ompl::base::State *  state2 
) const
virtual

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 168 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::enforceBounds ( ompl::base::State *  state) const
virtual

Definition at line 187 of file model_based_state_space.cpp.

bool ompl_interface::ModelBasedStateSpace::equalStates ( const ompl::base::State *  state1,
const ompl::base::State *  state2 
) const
virtual

Definition at line 177 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::freeState ( ompl::base::State *  state) const
virtual

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 108 of file model_based_state_space.cpp.

unsigned int ompl_interface::ModelBasedStateSpace::getDimension ( ) const
virtual

Definition at line 141 of file model_based_state_space.cpp.

const robot_model::JointModelGroup* ompl_interface::ModelBasedStateSpace::getJointModelGroup ( ) const
inline

Definition at line 208 of file model_based_state_space.h.

const std::string& ompl_interface::ModelBasedStateSpace::getJointModelGroupName ( ) const
inline

Definition at line 213 of file model_based_state_space.h.

const robot_model::JointBoundsVector& ompl_interface::ModelBasedStateSpace::getJointsBounds ( ) const
inline

Definition at line 229 of file model_based_state_space.h.

double ompl_interface::ModelBasedStateSpace::getMaximumExtent ( ) const
virtual

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 149 of file model_based_state_space.cpp.

double ompl_interface::ModelBasedStateSpace::getMeasure ( ) const
virtual

Definition at line 154 of file model_based_state_space.cpp.

const robot_model::RobotModelConstPtr& ompl_interface::ModelBasedStateSpace::getRobotModel ( ) const
inline

Definition at line 203 of file model_based_state_space.h.

unsigned int ompl_interface::ModelBasedStateSpace::getSerializationLength ( ) const
virtual

Definition at line 123 of file model_based_state_space.cpp.

const ModelBasedStateSpaceSpecification& ompl_interface::ModelBasedStateSpace::getSpecification ( ) const
inline

Definition at line 218 of file model_based_state_space.h.

double ompl_interface::ModelBasedStateSpace::getTagSnapToSegment ( ) const

Definition at line 82 of file model_based_state_space.cpp.

double * ompl_interface::ModelBasedStateSpace::getValueAddressAtIndex ( ompl::base::State *  state,
const unsigned int  index 
) const
virtual

Definition at line 220 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::interpolate ( const ompl::base::State *  from,
const ompl::base::State *  to,
const double  t,
ompl::base::State *  state 
) const
virtual

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 198 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::printSettings ( std::ostream &  out) const
virtual

Definition at line 289 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::printState ( const ompl::base::State *  state,
std::ostream &  out 
) const
virtual

Definition at line 294 of file model_based_state_space.cpp.

bool ompl_interface::ModelBasedStateSpace::satisfiesBounds ( const ompl::base::State *  state) const
virtual

Definition at line 192 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::serialize ( void *  serialization,
const ompl::base::State *  state 
) const
virtual

Definition at line 128 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::setDistanceFunction ( const DistanceFunction &  fun)
inline

Definition at line 177 of file model_based_state_space.h.

void ompl_interface::ModelBasedStateSpace::setInterpolationFunction ( const InterpolationFunction &  fun)
inline

Definition at line 172 of file model_based_state_space.h.

void ompl_interface::ModelBasedStateSpace::setPlanningVolume ( double  minX,
double  maxX,
double  minY,
double  maxY,
double  minZ,
double  maxZ 
)
virtual

Set the planning volume for the possible SE2 and/or SE3 components of the state space.

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 228 of file model_based_state_space.cpp.

void ompl_interface::ModelBasedStateSpace::setTagSnapToSegment ( double  snap)

Definition at line 87 of file model_based_state_space.cpp.

Member Data Documentation

DistanceFunction ompl_interface::ModelBasedStateSpace::distance_function_
protected

Definition at line 266 of file model_based_state_space.h.

InterpolationFunction ompl_interface::ModelBasedStateSpace::interpolation_function_
protected

Definition at line 265 of file model_based_state_space.h.

std::vector<robot_model::JointModel::Bounds> ompl_interface::ModelBasedStateSpace::joint_bounds_storage_
protected

Definition at line 260 of file model_based_state_space.h.

std::vector<const robot_model::JointModel*> ompl_interface::ModelBasedStateSpace::joint_model_vector_
protected

Definition at line 261 of file model_based_state_space.h.

ModelBasedStateSpaceSpecification ompl_interface::ModelBasedStateSpace::spec_
protected

Definition at line 259 of file model_based_state_space.h.

size_t ompl_interface::ModelBasedStateSpace::state_values_size_
protected

Definition at line 263 of file model_based_state_space.h.

double ompl_interface::ModelBasedStateSpace::tag_snap_to_segment_
protected

Definition at line 268 of file model_based_state_space.h.

double ompl_interface::ModelBasedStateSpace::tag_snap_to_segment_complement_
protected

Definition at line 269 of file model_based_state_space.h.

unsigned int ompl_interface::ModelBasedStateSpace::variable_count_
protected

Definition at line 262 of file model_based_state_space.h.

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

ompl
Author(s): Ioan Sucan
autogenerated on Sun Oct 18 2020 13:18:01