#include <collision_proximity_planner_plugin.h>
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_ |
Definition at line 50 of file collision_proximity_planner_plugin.h.
Definition at line 44 of file collision_proximity_planner_plugin.cpp.
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.
void collision_proximity_planner::CollisionProximityPlannerPlugin::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.
group_state | The group state for which the gradient is expected. |
Definition at line 91 of file collision_proximity_planner_plugin.cpp.
bool collision_proximity_planner::CollisionProximityPlannerPlugin::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.
robot_state | The full robot state. |
constraints | A set of constraints that may need to be applied |
group_state | The group state that needs to be refined |
Definition at line 53 of file collision_proximity_planner_plugin.cpp.
bool collision_proximity_planner::CollisionProximityPlannerPlugin::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.
group_state | The group state that needs to be refined. |
Definition at line 85 of file collision_proximity_planner_plugin.cpp.
bool collision_proximity_planner::CollisionProximityPlannerPlugin::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.
constraints | A set of constraints that may need to be applied |
Definition at line 80 of file collision_proximity_planner_plugin.cpp.
bool collision_proximity_planner::CollisionProximityPlannerPlugin::setGroupName | ( | const std::string & | group_name | ) |
Definition at line 48 of file collision_proximity_planner_plugin.cpp.
bool collision_proximity_planner::CollisionProximityPlannerPlugin::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.
group_state |
Definition at line 75 of file collision_proximity_planner_plugin.cpp.
bool collision_proximity_planner::CollisionProximityPlannerPlugin::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.
robot_state | The full robot state. |
Definition at line 70 of file collision_proximity_planner_plugin.cpp.
collision_proximity_planner::CollisionProximityPlanner collision_proximity_planner::CollisionProximityPlannerPlugin::planner_ [private] |
Definition at line 133 of file collision_proximity_planner_plugin.h.