$search

chomp Namespace Reference

Classes

class  ChompCost
 Represents the smoothness cost for CHOMP, for a single joint. More...
class  ChompOptimizer
class  ChompParameters
class  ChompPlannerNode
 ROS Node which responds to motion planning requests using the CHOMP algorithm. More...
class  ChompTrajectory
 Represents a discretized joint-space trajectory for CHOMP. More...
class  MultivariateGaussian
 Generates samples from a multivariate gaussian distribution. More...

Functions

double getRandomDouble ()

Variables

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

Detailed Description

Author:
Mrinal Kalakrishnan

Function Documentation

double chomp::getRandomDouble (  ) 

Definition at line 53 of file chomp_optimizer.cpp.


Variable Documentation

const int chomp::DIFF_RULE_LENGTH = 7 [static]

Definition at line 47 of file chomp_utils.h.

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 50 of file chomp_utils.h.

 All Classes Namespaces Files Functions Variables Typedefs Enumerations Properties Friends


chomp_motion_planner
Author(s): Mrinal Kalakrishnan / mail@mrinal.net
autogenerated on Fri Mar 1 14:51:50 2013