chomp::ChompRobotModel::ChompPlanningGroup Struct Reference

Contains information about a planning group. More...

#include <chomp_robot_model.h>

Public Member Functions
bool	addCollisionPoint (ChompCollisionPoint &collision_point, ChompRobotModel &robot_model)
template<typename Derived >
void	getRandomState (Eigen::MatrixBase< Derived > &state_vec) const
Public Attributes
std::vector< ChompJoint >	chomp_joints_
std::vector< std::string >	collision_link_names_
std::vector< ChompCollisionPoint >	collision_points_
boost::shared_ptr < KDL::TreeFkSolverJointPosAxisPartial >	fk_solver_
std::vector< std::string >	link_names_
std::string	name_
int	num_joints_

Detailed Description

Contains information about a planning group.

Definition at line 71 of file chomp_robot_model.h.

Member Function Documentation

bool chomp::ChompRobotModel::ChompPlanningGroup::addCollisionPoint	(	ChompCollisionPoint &	collision_point,
		ChompRobotModel &	robot_model
	)

Adds the collision point to this planning group, if any of the joints in this group can control the collision point in some way. Also converts the ChompCollisionPoint::parent_joints vector into group joint indexes

Definition at line 327 of file chomp_robot_model.cpp.

template<typename Derived >

void chomp::ChompRobotModel::ChompPlanningGroup::getRandomState ( Eigen::MatrixBase< Derived > & state_vec ) const [inline]

Gets a random state vector within the joint limits

Definition at line 278 of file chomp_robot_model.h.