ompl_ros_interface::OmplRosJointStateValidityChecker Class Reference

This class implements a state validity checker in joint space. More...

#include <ompl_ros_joint_state_validity_checker.h>

Inheritance diagram for ompl_ros_interface::OmplRosJointStateValidityChecker:

List of all members.

Public Member Functions
virtual bool	isStateValid (const ompl::base::State *ompl_state)
	A non-const version of isValid designed to fill in the last error code.
virtual bool	isValid (const ompl::base::State *ompl_state) const
	The callback function used by the planners to determine if a state is valid.
	OmplRosJointStateValidityChecker (ompl::base::SpaceInformation *si, planning_environment::CollisionModelsInterface *cmi, const ompl_ros_interface::OmplStateToKinematicStateMapping &mapping)
	Default constructor.
	~OmplRosJointStateValidityChecker ()
Protected Attributes
geometry_msgs::Pose	cached_transform_pose_
ompl_ros_interface::OmplStateToKinematicStateMapping	ompl_state_to_kinematic_state_mapping_

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Detailed Description

This class implements a state validity checker in joint space.

Definition at line 48 of file ompl_ros_joint_state_validity_checker.h.

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Constructor & Destructor Documentation

ompl_ros_interface::OmplRosJointStateValidityChecker::OmplRosJointStateValidityChecker	(	ompl::base::SpaceInformation *	si,
		planning_environment::CollisionModelsInterface *	cmi,
		const ompl_ros_interface::OmplStateToKinematicStateMapping &	mapping
	)		[inline]

Default constructor.

Parameters:

si	- The space information for this validity checker
planning_monitor	- The planning monitor
mapping	- The mapping between the ompl state and the kinematic state that the planning monitor will use

Definition at line 57 of file ompl_ros_joint_state_validity_checker.h.

ompl_ros_interface::OmplRosJointStateValidityChecker::~OmplRosJointStateValidityChecker

(

)

[inline]

Definition at line 64 of file ompl_ros_joint_state_validity_checker.h.

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Member Function Documentation

bool ompl_ros_interface::OmplRosJointStateValidityChecker::isStateValid

(

const ompl::base::State *

ompl_state

)

[virtual]

A non-const version of isValid designed to fill in the last error code.

Parameters:

ompl_state

The state that needs to be checked

Implements ompl_ros_interface::OmplRosStateValidityChecker.

Definition at line 76 of file ompl_ros_joint_state_validity_checker.cpp.

bool ompl_ros_interface::OmplRosJointStateValidityChecker::isValid

(

const ompl::base::State *

ompl_state

)

const [virtual]

The callback function used by the planners to determine if a state is valid.

Parameters:

ompl_state

The state that needs to be checked

Implements ompl_ros_interface::OmplRosStateValidityChecker.

Definition at line 42 of file ompl_ros_joint_state_validity_checker.cpp.

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Member Data Documentation

geometry_msgs::Pose ompl_ros_interface::OmplRosJointStateValidityChecker::cached_transform_pose_ [protected]

Definition at line 83 of file ompl_ros_joint_state_validity_checker.h.

ompl_ros_interface::OmplStateToKinematicStateMapping ompl_ros_interface::OmplRosJointStateValidityChecker::ompl_state_to_kinematic_state_mapping_ [protected]

Definition at line 79 of file ompl_ros_joint_state_validity_checker.h.

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

• ompl_ros_joint_state_validity_checker.h
• ompl_ros_joint_state_validity_checker.cpp