A state trasformer that uses forward and inverse kinematics to convert to and from ompl and physical robot states. More...

Inheritance diagram for ompl_ros_interface::OmplRosIKStateTransformer:

Public Member Functions
virtual bool	configureOnRequest (const arm_navigation_msgs::GetMotionPlan::Request &request, arm_navigation_msgs::GetMotionPlan::Response &response)=0
	Configure the transformer when a request is received. This is typically a one time configuration for each planning request.
virtual bool	forwardTransform (const arm_navigation_msgs::RobotState &robot_state, ompl::base::State &ompl_state)=0
	Compute the forward transform (from physical state to planning state)
virtual arm_navigation_msgs::RobotState	getDefaultState ()=0
	Get a default physical state.
virtual std::string	getFrame ()
	Get the frame in which the kinematics solver is operating.
virtual bool	initialize ()=0
	Custom initialization can be performed here.
virtual bool	inverseTransform (const ompl::base::State &ompl_state, arm_navigation_msgs::RobotState &robot_state)=0
	Compute the inverse transform (from planning state to physical state)
	OmplRosIKStateTransformer (const ompl::base::StateSpacePtr &state_space, const planning_models::KinematicModel::JointModelGroup *physical_joint_model_group)
	Default constructor.
	~OmplRosIKStateTransformer ()
Protected Attributes
kinematics::KinematicsBase *	kinematics_solver_
Private Attributes
std::string	group_name_
pluginlib::ClassLoader < kinematics::KinematicsBase >	kinematics_loader_
std::string	physical_group_name_

Detailed Description

A state trasformer that uses forward and inverse kinematics to convert to and from ompl and physical robot states.

Constructor & Destructor Documentation

ompl_ros_interface::OmplRosIKStateTransformer::OmplRosIKStateTransformer	(	const ompl::base::StateSpacePtr &	state_space,
		const planning_models::KinematicModel::JointModelGroup *	physical_joint_model_group
	)

Default constructor.

Parameters:

state_space	- The state space that the planner is operating on
physical_joint_model_group	- The "physical" joint model group that the planner is operating on

ompl_ros_interface::OmplRosIKStateTransformer::~OmplRosIKStateTransformer ( ) [inline]

virtual bool ompl_ros_interface::OmplRosIKStateTransformer::configureOnRequest	(	const arm_navigation_msgs::GetMotionPlan::Request &	request,
		arm_navigation_msgs::GetMotionPlan::Response &	response
	)		`[pure virtual]`

Configure the transformer when a request is received. This is typically a one time configuration for each planning request.

virtual bool ompl_ros_interface::OmplRosIKStateTransformer::forwardTransform	(	const arm_navigation_msgs::RobotState &	robot_state,
		ompl::base::State &	ompl_state
	)		`[pure virtual]`

Compute the forward transform (from physical state to planning state)

virtual arm_navigation_msgs::RobotState ompl_ros_interface::OmplRosIKStateTransformer::getDefaultState ( ) [pure virtual]

Get a default physical state.

virtual std::string ompl_ros_interface::OmplRosIKStateTransformer::getFrame ( ) [inline, virtual]

Get the frame in which the kinematics solver is operating.

virtual bool ompl_ros_interface::OmplRosIKStateTransformer::initialize ( ) [pure virtual]

Custom initialization can be performed here.

virtual bool ompl_ros_interface::OmplRosIKStateTransformer::inverseTransform	(	const ompl::base::State &	ompl_state,
		arm_navigation_msgs::RobotState &	robot_state
	)		`[pure virtual]`