Public Member Functions | Private Attributes
ompl_ros_interface::OmplRosIKSampler Class Reference

#include <ompl_ros_ik_sampler.h>

List of all members.

Public Member Functions

bool configureOnRequest (const arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response, const unsigned int &max_sample_count=100)
 Configure the kinematics solver when a request is received.
bool initialize (const ompl::base::StateSpacePtr &state_space, const std::string &kinematics_solver_name, const std::string &group_name, const std::string &end_effector_name, const planning_environment::CollisionModelsInterface *cmi)
 Initialize the sampler.
 OmplRosIKSampler ()
 Default constructor.
bool sampleGoal (const ompl::base::GoalLazySamples *gls, ompl::base::State *state)
 Sample a state in the goal region.
bool sampleGoals (const ompl::base::GoalLazySamples *gls, ompl::base::State *state)
 Sample a state in the goal region.

Private Attributes

const
planning_environment::CollisionModelsInterface
collision_models_interface_
std::string end_effector_name_
std::string group_name_
std::vector
< geometry_msgs::PoseStamped > 
ik_poses_
unsigned int ik_poses_counter_
pluginlib::ClassLoader
< kinematics::KinematicsBase
kinematics_loader_
kinematics::KinematicsBasekinematics_solver_
std::string kinematics_solver_name_
unsigned int max_sample_count_
unsigned int num_samples_
ompl_ros_interface::OmplStateToRobotStateMapping ompl_state_to_robot_state_mapping_
ompl_ros_interface::RobotStateToOmplStateMapping robot_state_to_ompl_state_mapping_
boost::shared_ptr
< ompl::base::ScopedState
< ompl::base::CompoundStateSpace > > 
scoped_state_
arm_navigation_msgs::RobotState seed_state_
arm_navigation_msgs::RobotState solution_state_
ompl::base::StateSpacePtr state_space_

Detailed Description

Definition at line 66 of file ompl_ros_ik_sampler.h.


Constructor & Destructor Documentation

Default constructor.

Definition at line 73 of file ompl_ros_ik_sampler.h.


Member Function Documentation

Configure the kinematics solver when a request is received.

Parameters:
request- The motion planning request
response- The response to the motion planning request. Use this to fill in any error codes
max_sample_count- The maximum number of samples that the IK should generate

Definition at line 122 of file ompl_ros_ik_sampler.cpp.

bool ompl_ros_interface::OmplRosIKSampler::initialize ( const ompl::base::StateSpacePtr &  state_space,
const std::string &  kinematics_solver_name,
const std::string &  group_name,
const std::string &  end_effector_name,
const planning_environment::CollisionModelsInterface cmi 
)

Initialize the sampler.

Parameters:
state_space- The state manifld that the planner is operating on
kinematics_solver_name- The name of the plugin that the kinematics solver will use
group_name- The name of the group that this solver is operating on
end_effector_name- The name of the end effector for this group
planning_monitor- A pointer to an instance of the planning monitor

Definition at line 41 of file ompl_ros_ik_sampler.cpp.

bool ompl_ros_interface::OmplRosIKSampler::sampleGoal ( const ompl::base::GoalLazySamples *  gls,
ompl::base::State *  state 
)

Sample a state in the goal region.

Parameters:
gls- A pointer to an instance of a goal lazy sampling object
state- The state to be returned

Definition at line 164 of file ompl_ros_ik_sampler.cpp.

bool ompl_ros_interface::OmplRosIKSampler::sampleGoals ( const ompl::base::GoalLazySamples *  gls,
ompl::base::State *  state 
)

Sample a state in the goal region.

Parameters:
gls- A pointer to an instance of a goal lazy sampling object
state- The state to be returned

Definition at line 193 of file ompl_ros_ik_sampler.cpp.


Member Data Documentation

Definition at line 130 of file ompl_ros_ik_sampler.h.

Definition at line 123 of file ompl_ros_ik_sampler.h.

Definition at line 123 of file ompl_ros_ik_sampler.h.

std::vector<geometry_msgs::PoseStamped> ompl_ros_interface::OmplRosIKSampler::ik_poses_ [private]

Definition at line 117 of file ompl_ros_ik_sampler.h.

Definition at line 119 of file ompl_ros_ik_sampler.h.

Definition at line 124 of file ompl_ros_ik_sampler.h.

Definition at line 121 of file ompl_ros_ik_sampler.h.

Definition at line 123 of file ompl_ros_ik_sampler.h.

Definition at line 118 of file ompl_ros_ik_sampler.h.

Definition at line 118 of file ompl_ros_ik_sampler.h.

Definition at line 128 of file ompl_ros_ik_sampler.h.

Definition at line 129 of file ompl_ros_ik_sampler.h.

boost::shared_ptr<ompl::base::ScopedState<ompl::base::CompoundStateSpace> > ompl_ros_interface::OmplRosIKSampler::scoped_state_ [private]

Definition at line 125 of file ompl_ros_ik_sampler.h.

Definition at line 126 of file ompl_ros_ik_sampler.h.

Definition at line 126 of file ompl_ros_ik_sampler.h.

ompl::base::StateSpacePtr ompl_ros_interface::OmplRosIKSampler::state_space_ [private]

Definition at line 120 of file ompl_ros_ik_sampler.h.


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


ompl_ros_interface
Author(s): Sachin Chitta
autogenerated on Mon Dec 2 2013 12:38:54