Classes | Functions | Variables
chomp Namespace Reference

Classes

class  ChompCost
 Represents the smoothness cost for CHOMP, for a single joint. More...
class  ChompOptimizer
class  ChompParameters
class  ChompPlanner
class  ChompTrajectory
 Represents a discretized joint-space trajectory for CHOMP. More...
class  MultivariateGaussian
 Generates samples from a multivariate gaussian distribution. More...

Functions

double getRandomDouble ()
static void jointStateToArray (const moveit::core::RobotModelConstPtr &kmodel, const sensor_msgs::JointState &joint_state, const std::string &planning_group_name, Eigen::MatrixXd::RowXpr joint_array)
static double normalizeAngle (double angle)
static double normalizeAnglePositive (double angle)
static double shortestAngularDistance (double start, double end)

Variables

static const int DIFF_RULE_LENGTH = 7
static const double DIFF_RULES [3][DIFF_RULE_LENGTH]

Function Documentation

Definition at line 49 of file chomp_optimizer.cpp.

static void chomp::jointStateToArray ( const moveit::core::RobotModelConstPtr &  kmodel,
const sensor_msgs::JointState &  joint_state,
const std::string &  planning_group_name,
Eigen::MatrixXd::RowXpr  joint_array 
) [inline, static]

Definition at line 55 of file chomp_utils.h.

static double chomp::normalizeAngle ( double  angle) [inline, static]

Definition at line 80 of file chomp_utils.h.

static double chomp::normalizeAnglePositive ( double  angle) [inline, static]

Definition at line 75 of file chomp_utils.h.

static double chomp::shortestAngularDistance ( double  start,
double  end 
) [inline, static]

Definition at line 88 of file chomp_utils.h.


Variable Documentation

const int chomp::DIFF_RULE_LENGTH = 7 [static]

Definition at line 46 of file chomp_utils.h.

const double chomp::DIFF_RULES[3][DIFF_RULE_LENGTH] [static]
Initial value:
 {
  { 0, 0, -2 / 6.0, -3 / 6.0, 6 / 6.0, -1 / 6.0, 0 },                       
  { 0, -1 / 12.0, 16 / 12.0, -30 / 12.0, 16 / 12.0, -1 / 12.0, 0 },         
  { 0, 1 / 12.0, -17 / 12.0, 46 / 12.0, -46 / 12.0, 17 / 12.0, -1 / 12.0 }  
}

Definition at line 49 of file chomp_utils.h.



chomp_motion_planner
Author(s): Gil Jones , Mrinal Kalakrishnan
autogenerated on Wed Jun 19 2019 19:24:07