Public Member Functions | Private Attributes
collision_proximity_planner::CollisionProximityPlannerPlugin Class Reference

#include <collision_proximity_planner_plugin.h>

List of all members.

Public Member Functions

void clear ()
 Clear everything internally and get ready for a whole new request. This must be called after setRobotState() has been called if a completely new request needs to be serviced.
 CollisionProximityPlannerPlugin ()
void getStateGradient (const arm_navigation_msgs::RobotState &group_state, double &distance, arm_navigation_msgs::RobotState &gradient)
 Given a robot state, get the gradient direction to be moved in.
bool refineState (const arm_navigation_msgs::RobotState &robot_state, const arm_navigation_msgs::Constraints &constraints, arm_navigation_msgs::RobotState &group_state)
 Given a robot state, refine the state. Examples of refinement could include projection onto a constraint manifold, motion away from contact.
bool refineState (arm_navigation_msgs::RobotState &group_state, arm_navigation_msgs::RobotTrajectory &robot_trajectory)
 Given a robot state, refine the state. Examples of refinement could include projection onto a constraint manifold, motion away from contact.
bool setConstraints (const arm_navigation_msgs::Constraints &constraints)
 Given a robot state, refine the state. Examples of refinement could include projection onto a constraint manifold, motion away from contact, etc.
bool setGroupName (const std::string &group_name)
bool setGroupState (const arm_navigation_msgs::RobotState &group_state)
 Set a group state. This must be called before you can make multiple queries to refineState below. This function can be used to define a mapping between the group state specified in the argument and the internal group state for more efficiency.
bool setRobotState (const arm_navigation_msgs::RobotState &robot_state)
 Set the robot state that you want to check. Note that this locks the collision space and you will have to call clear() to unlock the space.

Private Attributes

collision_proximity_planner::CollisionProximityPlanner planner_

Detailed Description

Definition at line 50 of file collision_proximity_planner_plugin.h.


Constructor & Destructor Documentation

Definition at line 44 of file collision_proximity_planner_plugin.cpp.


Member Function Documentation

Clear everything internally and get ready for a whole new request. This must be called after setRobotState() has been called if a completely new request needs to be serviced.

Definition at line 98 of file collision_proximity_planner_plugin.cpp.

Given a robot state, get the gradient direction to be moved in.

Parameters:
group_stateThe group state for which the gradient is expected.

Definition at line 91 of file collision_proximity_planner_plugin.cpp.

Given a robot state, refine the state. Examples of refinement could include projection onto a constraint manifold, motion away from contact.

Parameters:
robot_stateThe full robot state.
constraintsA set of constraints that may need to be applied
group_stateThe group state that needs to be refined
Returns:
True if a valid refinement was found, false otherwise

Definition at line 53 of file collision_proximity_planner_plugin.cpp.

Given a robot state, refine the state. Examples of refinement could include projection onto a constraint manifold, motion away from contact.

Parameters:
group_stateThe group state that needs to be refined.
Returns:
True if a valid refinement was found, false otherwise.

Definition at line 85 of file collision_proximity_planner_plugin.cpp.

Given a robot state, refine the state. Examples of refinement could include projection onto a constraint manifold, motion away from contact, etc.

Parameters:
constraintsA set of constraints that may need to be applied
Returns:
True if setting constraints was successful

Definition at line 80 of file collision_proximity_planner_plugin.cpp.

Definition at line 48 of file collision_proximity_planner_plugin.cpp.

Set a group state. This must be called before you can make multiple queries to refineState below. This function can be used to define a mapping between the group state specified in the argument and the internal group state for more efficiency.

Parameters:
group_state

Definition at line 75 of file collision_proximity_planner_plugin.cpp.

Set the robot state that you want to check. Note that this locks the collision space and you will have to call clear() to unlock the space.

Parameters:
robot_stateThe full robot state.
Returns:
True if setting robot state was successful

Definition at line 70 of file collision_proximity_planner_plugin.cpp.


Member Data Documentation

Definition at line 133 of file collision_proximity_planner_plugin.h.


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


collision_proximity_planner
Author(s): Sachin Chitta
autogenerated on Fri Dec 6 2013 21:13:39