Classes | Public Member Functions | Static Public Attributes | Private Attributes | List of all members
ompl_interface::PoseModelStateSpace Class Reference

#include <pose_model_state_space.h>

Inheritance diagram for ompl_interface::PoseModelStateSpace:
Inheritance graph
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Classes

struct  PoseComponent
 
class  StateType
 

Public Member Functions

virtual ompl::base::StateSamplerPtr allocDefaultStateSampler () const
 
virtual ompl::base::State * allocState () const
 
bool computeStateFK (ompl::base::State *state) const
 
bool computeStateIK (ompl::base::State *state) const
 
bool computeStateK (ompl::base::State *state) const
 
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 double distance (const ompl::base::State *state1, const ompl::base::State *state2) const
 
virtual void freeState (ompl::base::State *state) const
 
virtual double getMaximumExtent () const
 
virtual void interpolate (const ompl::base::State *from, const ompl::base::State *to, const double t, ompl::base::State *state) const
 
 PoseModelStateSpace (const ModelBasedStateSpaceSpecification &spec)
 
virtual void sanityChecks () const
 
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...
 
virtual ~PoseModelStateSpace ()
 
- Public Member Functions inherited from ompl_interface::ModelBasedStateSpace
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 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 void enforceBounds (ompl::base::State *state) const
 
virtual bool equalStates (const ompl::base::State *state1, const ompl::base::State *state2) const
 
virtual unsigned int getDimension () const
 
const robot_model::JointModelGroup * getJointModelGroup () const
 
const std::string & getJointModelGroupName () const
 
const robot_model::JointBoundsVectorgetJointsBounds () const
 
virtual double getMeasure () const
 
const robot_model::RobotModelConstPtr & getRobotModel () const
 
virtual unsigned int getSerializationLength () const
 
const ModelBasedStateSpaceSpecificationgetSpecification () const
 
double getTagSnapToSegment () const
 
virtual double * getValueAddressAtIndex (ompl::base::State *state, const unsigned int index) 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)
 
void setTagSnapToSegment (double snap)
 
virtual ~ModelBasedStateSpace ()
 

Static Public Attributes

static const std::string PARAMETERIZATION_TYPE = "PoseModel"
 

Private Attributes

double jump_factor_
 
std::vector< PoseComponentposes_
 

Additional Inherited Members

- Protected Attributes inherited from ompl_interface::ModelBasedStateSpace
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 45 of file pose_model_state_space.h.

Constructor & Destructor Documentation

ompl_interface::PoseModelStateSpace::PoseModelStateSpace ( const ModelBasedStateSpaceSpecification spec)

Definition at line 43 of file pose_model_state_space.cpp.

ompl_interface::PoseModelStateSpace::~PoseModelStateSpace ( )
virtual

Definition at line 63 of file pose_model_state_space.cpp.

Member Function Documentation

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

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 296 of file pose_model_state_space.cpp.

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

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 84 of file pose_model_state_space.cpp.

bool ompl_interface::PoseModelStateSpace::computeStateFK ( ompl::base::State *  state) const

Definition at line 256 of file pose_model_state_space.cpp.

bool ompl_interface::PoseModelStateSpace::computeStateIK ( ompl::base::State *  state) const

Definition at line 270 of file pose_model_state_space.cpp.

bool ompl_interface::PoseModelStateSpace::computeStateK ( ompl::base::State *  state) const

Definition at line 284 of file pose_model_state_space.cpp.

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

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 103 of file pose_model_state_space.cpp.

void ompl_interface::PoseModelStateSpace::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 from ompl_interface::ModelBasedStateSpace.

Definition at line 339 of file pose_model_state_space.cpp.

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

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 67 of file pose_model_state_space.cpp.

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

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 95 of file pose_model_state_space.cpp.

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

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 76 of file pose_model_state_space.cpp.

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

Reimplemented from ompl_interface::ModelBasedStateSpace.

Definition at line 122 of file pose_model_state_space.cpp.

void ompl_interface::PoseModelStateSpace::sanityChecks ( ) const
virtual

Definition at line 116 of file pose_model_state_space.cpp.

void ompl_interface::PoseModelStateSpace::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 from ompl_interface::ModelBasedStateSpace.

Definition at line 163 of file pose_model_state_space.cpp.

Member Data Documentation

double ompl_interface::PoseModelStateSpace::jump_factor_
private

Definition at line 136 of file pose_model_state_space.h.

const std::string ompl_interface::PoseModelStateSpace::PARAMETERIZATION_TYPE = "PoseModel"
static

Definition at line 48 of file pose_model_state_space.h.

std::vector<PoseComponent> ompl_interface::PoseModelStateSpace::poses_
private

Definition at line 135 of file pose_model_state_space.h.


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


ompl
Author(s): Ioan Sucan
autogenerated on Mon Jan 15 2018 03:51:38