chomp Namespace Reference

Classes
class	ChompCost
	Represents the smoothness cost for CHOMP, for a single joint. More...
class	ChompOptimizer
class	ChompParameters
class	ChompPlanner
class	ChompTrajectory
	Represents a discretized joint-space trajectory for CHOMP. More...
class	MultivariateGaussian
	Generates samples from a multivariate gaussian distribution. More...

Functions
double	getRandomDouble ()
static double	normalizeAngle (double angle)
static double	normalizeAnglePositive (double angle)
static void	robotStateToArray (const moveit::core::RobotState &state, const std::string &planning_group_name, Eigen::MatrixXd::RowXpr joint_array)
static double	shortestAngularDistance (double start, double end)

Variables
static const int	DIFF_RULE_LENGTH = 7
static const double	DIFF_RULES [3][DIFF_RULE_LENGTH]

Function Documentation

getRandomDouble()

double chomp::getRandomDouble

(

)

Definition at line 82 of file chomp_optimizer.cpp.

normalizeAngle()

static double chomp::normalizeAngle ( double  angle )

inlinestatic

Definition at line 101 of file chomp_utils.h.

normalizeAnglePositive()

static double chomp::normalizeAnglePositive ( double  angle )

inlinestatic

Definition at line 96 of file chomp_utils.h.

robotStateToArray()

static void chomp::robotStateToArray ( const moveit::core::RobotState &  state, const std::string &  planning_group_name, Eigen::MatrixXd::RowXpr  joint_array  )

inlinestatic

Definition at line 86 of file chomp_utils.h.

shortestAngularDistance()

static double chomp::shortestAngularDistance ( double  start, double  end  )

inlinestatic

Definition at line 109 of file chomp_utils.h.

Variable Documentation

DIFF_RULE_LENGTH

const int chomp::DIFF_RULE_LENGTH = 7

static

Definition at line 77 of file chomp_utils.h.

DIFF_RULES

const double chomp::DIFF_RULES[3][DIFF_RULE_LENGTH]

static

Initial value:

= {
  { 0, 0, -2 / 6.0, -3 / 6.0, 6 / 6.0, -1 / 6.0, 0 },                       
  { 0, -1 / 12.0, 16 / 12.0, -30 / 12.0, 16 / 12.0, -1 / 12.0, 0 },         
  { 0, 1 / 12.0, -17 / 12.0, 46 / 12.0, -46 / 12.0, 17 / 12.0, -1 / 12.0 }  
}

Definition at line 80 of file chomp_utils.h.