chomp::ChompRobotModel Class Reference

Contains all the information needed for CHOMP planning. More...

#include <chomp_robot_model.h>

Classes
struct	ChompJoint
	Contains information about a single joint for CHOMP planning. More...
struct	ChompPlanningGroup
	Contains information about a planning group. More...
Public Member Functions
void	attachedObjectCallback (const mapping_msgs::AttachedCollisionObjectConstPtr &attached_object)
	Callback for information about objects attached to the robot.
	ChompRobotModel ()
void	generateAttachedObjectCollisionPoints (const motion_planning_msgs::RobotState *robot_state)
void	generateLinkCollisionPoints ()
const KDL::TreeFkSolverJointPosAxis *	getForwardKinematicsSolver () const
const KDL::Tree *	getKDLTree () const
	Gets the KDL tree.
void	getLinkCollisionPoints (std::string link_name, std::vector< ChompCollisionPoint > &points)
double	getMaxRadiusClearance () const
	Gets the max value of radius+clearance for all the collision points.
int	getNumKDLJoints () const
	Gets the number of joints in the KDL tree.
const ChompPlanningGroup *	getPlanningGroup (const std::string &group_name) const
	Gets the planning group corresponding to the group name.
const std::string &	getReferenceFrame () const
const planning_environment::RobotModels *	getRobotModels () const
	Gets the planning_environment::RobotModels class.
bool	init (planning_environment::CollisionSpaceMonitor *monitor_, std::string &reference_frame)
	Initializes the robot models for CHOMP.
template<typename T >
void	jointMsgToArray (T &msg_vector, KDL::JntArray &joint_array)
	Takes in an std::vector of joint value messages, and writes them out into the KDL joint array.
template<typename T >
void	jointMsgToArray (T &msg_vector, Eigen::MatrixXd::RowXpr joint_array)
	Takes in an std::vector of joint value messages, and writes them out into the KDL joint array.
void	jointStateToArray (const sensor_msgs::JointState &joint_state, Eigen::MatrixXd::RowXpr joint_array)
void	jointStateToArray (const sensor_msgs::JointState &joint_state, KDL::JntArray &joint_array)
const std::string	kdlNumberToUrdfName (int kdl_number) const
	Gets the URDF joint name from the KDL joint number.
void	populatePlanningGroupCollisionPoints ()
void	publishCollisionPoints (ros::Publisher &vis_marker)
int	urdfNameToKdlNumber (const std::string &urdf_name) const
	Gets the KDL joint number from the URDF joint name.
virtual	~ChompRobotModel ()
Private Member Functions
void	addCollisionPointsFromLink (const planning_models::KinematicState &state, std::string link_name, double clearance)
void	getLinkInformation (const std::string link_name, std::vector< int > &active_joints, int &segment_number)
Private Attributes
ros::Subscriber	attached_object_subscriber_
std::map< std::string, mapping_msgs::AttachedCollisionObject >	attached_objects_
double	collision_clearance_default_
KDL::TreeFkSolverJointPosAxis *	fk_solver_
std::map< std::string, std::string >	joint_segment_mapping_
std::vector< std::string >	kdl_number_to_urdf_name_
KDL::Tree	kdl_tree_
std::map< std::string, std::vector < ChompCollisionPoint > >	link_attached_object_collision_points_
std::map< std::string, std::vector < ChompCollisionPoint > >	link_collision_points_
double	max_radius_clearance_
planning_environment::CollisionSpaceMonitor *	monitor_
ros::NodeHandle	node_handle_
int	num_kdl_joints_
std::map< std::string, ChompPlanningGroup >	planning_groups_
std::string	reference_frame_
ros::NodeHandle	root_handle_
std::map< std::string, std::string >	segment_joint_mapping_
std::map< std::string, int >	urdf_name_to_kdl_number_

Detailed Description

Contains all the information needed for CHOMP planning.

Initializes the robot models for CHOMP from the "robot_description" parameter, in the same way that planning_environment::RobotModels does it.

Definition at line 57 of file chomp_robot_model.h.

Constructor & Destructor Documentation

chomp::ChompRobotModel::ChompRobotModel ( )

Definition at line 50 of file chomp_robot_model.cpp.

chomp::ChompRobotModel::~ChompRobotModel ( ) [virtual]

Definition at line 56 of file chomp_robot_model.cpp.

Member Function Documentation

void chomp::ChompRobotModel::addCollisionPointsFromLink	(	const planning_models::KinematicState &	state,
		std::string	link_name,
		double	clearance
	)			`[private]`

Definition at line 263 of file chomp_robot_model.cpp.

void chomp::ChompRobotModel::attachedObjectCallback ( const mapping_msgs::AttachedCollisionObjectConstPtr & attached_object )

Callback for information about objects attached to the robot.

void chomp::ChompRobotModel::generateAttachedObjectCollisionPoints ( const motion_planning_msgs::RobotState * robot_state )

Definition at line 403 of file chomp_robot_model.cpp.

void chomp::ChompRobotModel::generateLinkCollisionPoints ( )

Definition at line 369 of file chomp_robot_model.cpp.

const KDL::TreeFkSolverJointPosAxis * chomp::ChompRobotModel::getForwardKinematicsSolver ( ) const [inline]

Definition at line 267 of file chomp_robot_model.h.

const KDL::Tree * chomp::ChompRobotModel::getKDLTree ( ) const [inline]

Gets the KDL tree.

Definition at line 245 of file chomp_robot_model.h.

void chomp::ChompRobotModel::getLinkCollisionPoints	(	std::string	link_name,
		std::vector< ChompCollisionPoint > &	points
	)

Definition at line 354 of file chomp_robot_model.cpp.

void chomp::ChompRobotModel::getLinkInformation	(	const std::string	link_name,
		std::vector< int > &	active_joints,
		int &	segment_number
	)			`[private]`

Definition at line 226 of file chomp_robot_model.cpp.

double chomp::ChompRobotModel::getMaxRadiusClearance ( ) const [inline]

Gets the max value of radius+clearance for all the collision points.

Definition at line 348 of file chomp_robot_model.h.

int chomp::ChompRobotModel::getNumKDLJoints ( ) const [inline]

Gets the number of joints in the KDL tree.

Definition at line 240 of file chomp_robot_model.h.

const ChompRobotModel::ChompPlanningGroup * chomp::ChompRobotModel::getPlanningGroup ( const std::string & group_name ) const [inline]

Gets the planning group corresponding to the group name.

Definition at line 226 of file chomp_robot_model.h.

const std::string & chomp::ChompRobotModel::getReferenceFrame ( ) const [inline]

Definition at line 272 of file chomp_robot_model.h.

const planning_environment::RobotModels * chomp::ChompRobotModel::getRobotModels ( ) const [inline]

Gets the planning_environment::RobotModels class.

Definition at line 235 of file chomp_robot_model.h.

bool chomp::ChompRobotModel::init	(	planning_environment::CollisionSpaceMonitor *	monitor_,
		std::string &	reference_frame
	)

Initializes the robot models for CHOMP.

Returns:: true if successful, false if not

Definition at line 60 of file chomp_robot_model.cpp.

template<typename T >

void chomp::ChompRobotModel::jointMsgToArray	(	T &	msg_vector,
		KDL::JntArray &	joint_array
	)			`[inline]`

Takes in an std::vector of joint value messages, and writes them out into the KDL joint array.

The template typename T needs to be an std::vector of some message which has an std::string "joint_name" and a double array/vector "value".

Names to KDL joint index mappings are performed using the given ChompRobotModel.

Definition at line 314 of file chomp_robot_model.h.

template<typename T >

void chomp::ChompRobotModel::jointMsgToArray	(	T &	msg_vector,
		Eigen::MatrixXd::RowXpr	joint_array
	)			`[inline]`

Takes in an std::vector of joint value messages, and writes them out into the KDL joint array.

The template typename T needs to be an std::vector of some message which has an std::string "joint_name" and a double array/vector "value".

Names to KDL joint index mappings are performed using the given ChompRobotModel.

Definition at line 302 of file chomp_robot_model.h.

void chomp::ChompRobotModel::jointStateToArray	(	const sensor_msgs::JointState &	joint_state,
		Eigen::MatrixXd::RowXpr	joint_array
	)			`[inline]`

Definition at line 336 of file chomp_robot_model.h.

void chomp::ChompRobotModel::jointStateToArray	(	const sensor_msgs::JointState &	joint_state,
		KDL::JntArray &	joint_array
	)			`[inline]`

Definition at line 325 of file chomp_robot_model.h.

const std::string chomp::ChompRobotModel::kdlNumberToUrdfName ( int kdl_number ) const [inline]

Gets the URDF joint name from the KDL joint number.

Returns:: "" if the number does not have a name

Definition at line 259 of file chomp_robot_model.h.

void chomp::ChompRobotModel::populatePlanningGroupCollisionPoints ( )

Definition at line 487 of file chomp_robot_model.cpp.

void chomp::ChompRobotModel::publishCollisionPoints ( ros::Publisher & vis_marker )

int chomp::ChompRobotModel::urdfNameToKdlNumber ( const std::string & urdf_name ) const [inline]

Gets the KDL joint number from the URDF joint name.

Returns:: -1 if the joint name is not found

Definition at line 250 of file chomp_robot_model.h.

Member Data Documentation

ros::Subscriber chomp::ChompRobotModel::attached_object_subscriber_ [private]

Attached object subscriber

Definition at line 190 of file chomp_robot_model.h.

std::map<std::string, mapping_msgs::AttachedCollisionObject> chomp::ChompRobotModel::attached_objects_ [private]

Map of links -> attached objects

Definition at line 205 of file chomp_robot_model.h.

double chomp::ChompRobotModel::collision_clearance_default_ [private]

Default clearance for all collision links

Definition at line 200 of file chomp_robot_model.h.

KDL::TreeFkSolverJointPosAxis* chomp::ChompRobotModel::fk_solver_ [private]

Forward kinematics solver for the tree

Definition at line 199 of file chomp_robot_model.h.

std::map<std::string, std::string> chomp::ChompRobotModel::joint_segment_mapping_ [private]

Joint -> Segment mapping for KDL tree

Definition at line 194 of file chomp_robot_model.h.

std::vector<std::string> chomp::ChompRobotModel::kdl_number_to_urdf_name_ [private]

Mapping from KDL joint number to URDF joint name

Definition at line 196 of file chomp_robot_model.h.

KDL::Tree chomp::ChompRobotModel::kdl_tree_ [private]

The KDL tree of the entire robot

Definition at line 192 of file chomp_robot_model.h.

std::map<std::string, std::vector<ChompCollisionPoint> > chomp::ChompRobotModel::link_attached_object_collision_points_ [private]

Collision points associated with the objects attached to every link

Definition at line 203 of file chomp_robot_model.h.

std::map<std::string, std::vector<ChompCollisionPoint> > chomp::ChompRobotModel::link_collision_points_ [private]

Collision points associated with every link

Definition at line 202 of file chomp_robot_model.h.

double chomp::ChompRobotModel::max_radius_clearance_ [private]

Maximum value of radius + clearance for any of the collision points

Definition at line 204 of file chomp_robot_model.h.

planning_environment::CollisionSpaceMonitor* chomp::ChompRobotModel::monitor_ [private]

Definition at line 189 of file chomp_robot_model.h.

ros::NodeHandle chomp::ChompRobotModel::node_handle_ [private]

Definition at line 188 of file chomp_robot_model.h.

int chomp::ChompRobotModel::num_kdl_joints_ [private]

Total number of joints in the KDL tree

Definition at line 193 of file chomp_robot_model.h.

std::map<std::string, ChompPlanningGroup> chomp::ChompRobotModel::planning_groups_ [private]

Planning group information

Definition at line 198 of file chomp_robot_model.h.

std::string chomp::ChompRobotModel::reference_frame_ [private]

Reference frame for all kinematics operations

Definition at line 201 of file chomp_robot_model.h.

ros::NodeHandle chomp::ChompRobotModel::root_handle_ [private]

ROS Node handle

Definition at line 188 of file chomp_robot_model.h.

std::map<std::string, std::string> chomp::ChompRobotModel::segment_joint_mapping_ [private]

Segment -> Joint mapping for KDL tree

Definition at line 195 of file chomp_robot_model.h.

std::map<std::string, int> chomp::ChompRobotModel::urdf_name_to_kdl_number_ [private]

Mapping from URDF joint name to KDL joint number

Definition at line 197 of file chomp_robot_model.h.

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

chomp::ChompRobotModel Class Reference

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation