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 void	jointStateToArray (const planning_models::RobotModelConstPtr &kmodel, const sensor_msgs::JointState &joint_state, const std::string &planning_group_name, Eigen::MatrixXd::RowXpr joint_array)
static double	normalizeAngle (double angle)
static double	normalizeAnglePositive (double angle)
static double	shortestAngularDistance (double start, double end)
Variables
static const int	DIFF_RULE_LENGTH = 7
static const double	DIFF_RULES [3][DIFF_RULE_LENGTH]

---

Detailed Description

Author:

Mrinal Kalakrishnan

E. Gil Jones

---

Function Documentation

double chomp::getRandomDouble

(

)

Definition at line 47 of file chomp_optimizer.cpp.

static void chomp::jointStateToArray	(	const planning_models::RobotModelConstPtr &	kmodel,
		const sensor_msgs::JointState &	joint_state,
		const std::string &	planning_group_name,
		Eigen::MatrixXd::RowXpr	joint_array
	)		[inline, static]

Definition at line 57 of file chomp_utils.h.

static double chomp::normalizeAngle

(

double

angle

)

[inline, static]

Definition at line 83 of file chomp_utils.h.

static double chomp::normalizeAnglePositive

(

double

angle

)

[inline, static]

Definition at line 78 of file chomp_utils.h.

static double chomp::shortestAngularDistance	(	double	start,
		double	end
	)		[inline, static]

Definition at line 91 of file chomp_utils.h.

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Variable Documentation

const int chomp::DIFF_RULE_LENGTH = 7 [static]

Definition at line 48 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 51 of file chomp_utils.h.