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chomp::ChompPlannerNode Class Reference

ROS Node which responds to motion planning requests using the CHOMP algorithm. More...

#include <chomp_planner_node.h>

List of all members.

Public Member Functions

 ChompPlannerNode (ros::NodeHandle node_handle, collision_proximity::CollisionProximitySpace *space)
 Default constructor.
bool filterJointTrajectory (arm_navigation_msgs::FilterJointTrajectoryWithConstraints::Request &req, arm_navigation_msgs::FilterJointTrajectoryWithConstraints::Response &res)
bool init ()
 Initialize the node.
bool planKinematicPath (arm_navigation_msgs::GetMotionPlan::Request &req, arm_navigation_msgs::GetMotionPlan::Response &res)
 Main entry point for motion planning (callback for the plan_kinematic_path service).
int run ()
 Runs the node.
virtual ~ChompPlannerNode ()
 Destructor.

Private Member Functions

void getLimits (const trajectory_msgs::JointTrajectory &trajectory, std::vector< arm_navigation_msgs::JointLimits > &limits_out)
void jointStateToArray (const sensor_msgs::JointState &joint_state, std::string &planning_group_name, Eigen::MatrixXd::RowXpr joint_array)

Private Attributes

ChompParameters chomp_parameters_
planning_environment::CollisionModelscollision_models_
collision_proximity::CollisionProximitySpacecollision_proximity_space_
ros::ServiceServer filter_joint_trajectory_service_
ros::ServiceClient filter_trajectory_client_
std::map< std::string,
arm_navigation_msgs::JointLimits
joint_limits_
std::map< std::string, double > joint_velocity_limits_
int maximum_spline_points_
int minimum_spline_points_
ros::NodeHandle node_handle_
ros::ServiceServer plan_kinematic_path_service_
std::string reference_frame_
planning_models::KinematicModelrobot_model_
ros::NodeHandle root_handle_
double trajectory_discretization_
double trajectory_duration_
bool use_trajectory_filter_
ros::Publisher vis_marker_array_publisher_
ros::Publisher vis_marker_publisher_

Detailed Description

ROS Node which responds to motion planning requests using the CHOMP algorithm.

Definition at line 61 of file chomp_planner_node.h.


Constructor & Destructor Documentation

chomp::ChompPlannerNode::ChompPlannerNode ( ros::NodeHandle  node_handle,
collision_proximity::CollisionProximitySpace space 
)

Default constructor.

Definition at line 61 of file chomp_planner_node.cpp.

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

Destructor.

Definition at line 136 of file chomp_planner_node.cpp.


Member Function Documentation

Definition at line 287 of file chomp_planner_node.cpp.

void chomp::ChompPlannerNode::getLimits ( const trajectory_msgs::JointTrajectory trajectory,
std::vector< arm_navigation_msgs::JointLimits > &  limits_out 
) [private]
bool chomp::ChompPlannerNode::init (  ) 

Initialize the node.

Returns:
true if successful, false if not

Definition at line 67 of file chomp_planner_node.cpp.

void chomp::ChompPlannerNode::jointStateToArray ( const sensor_msgs::JointState joint_state,
std::string &  planning_group_name,
Eigen::MatrixXd::RowXpr  joint_array 
) [inline, private]

Definition at line 124 of file chomp_planner_node.h.

bool chomp::ChompPlannerNode::planKinematicPath ( arm_navigation_msgs::GetMotionPlan::Request req,
arm_navigation_msgs::GetMotionPlan::Response res 
)

Main entry point for motion planning (callback for the plan_kinematic_path service).

Definition at line 147 of file chomp_planner_node.cpp.

int chomp::ChompPlannerNode::run ( void   ) 

Runs the node.

Returns:
0 on clean exit

Definition at line 141 of file chomp_planner_node.cpp.


Member Data Documentation

Chomp Parameters

Definition at line 105 of file chomp_planner_node.h.

Definition at line 101 of file chomp_planner_node.h.

Chomp Collision space

Definition at line 106 of file chomp_planner_node.h.

The planning service

Definition at line 99 of file chomp_planner_node.h.

Definition at line 122 of file chomp_planner_node.h.

Definition at line 116 of file chomp_planner_node.h.

std::map<std::string, double> chomp::ChompPlannerNode::joint_velocity_limits_ [private]

Map of joints to velocity limits

Definition at line 111 of file chomp_planner_node.h.

Definition at line 113 of file chomp_planner_node.h.

Definition at line 114 of file chomp_planner_node.h.

Definition at line 96 of file chomp_planner_node.h.

The planning service

Definition at line 97 of file chomp_planner_node.h.

Definition at line 102 of file chomp_planner_node.h.

Chomp Robot Model

Definition at line 104 of file chomp_planner_node.h.

ROS Node handle

Definition at line 96 of file chomp_planner_node.h.

Default discretization of the planned motion

Definition at line 108 of file chomp_planner_node.h.

Default duration of the planned motion

Definition at line 107 of file chomp_planner_node.h.

Definition at line 112 of file chomp_planner_node.h.

Publisher for marker arrays

Definition at line 109 of file chomp_planner_node.h.

Publisher for markers

Definition at line 110 of file chomp_planner_node.h.


The documentation for this class was generated from the following files:
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chomp_motion_planner
Author(s): Mrinal Kalakrishnan / mail@mrinal.net
autogenerated on Fri Mar 1 14:51:50 2013