Publishes rviz markers to visualize the optimized trajectory. More...

#include <trajectory_visualization.h>

Inheritance diagram for stomp_moveit::update_filters::TrajectoryVisualization:

Public Member Functions
virtual bool	configure (const XmlRpc::XmlRpcValue &config) override
	see base class for documentation
virtual void	done (bool success, int total_iterations, double final_cost, const Eigen::MatrixXd &parameters) override
	Called by the Stomp at the end of the optimization process.
virtual bool	filter (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, const Eigen::MatrixXd &parameters, Eigen::MatrixXd &updates, bool &filtered) override
	Publishes rviz markers to visualize the optimized trajectory at each iteration.
virtual std::string	getGroupName () const override
virtual std::string	getName () const override
virtual bool	initialize (moveit::core::RobotModelConstPtr robot_model_ptr, const std::string &group_name, const XmlRpc::XmlRpcValue &config) override
	see base class for documentation
virtual bool	setMotionPlanRequest (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::MotionPlanRequest &req, const stomp_core::StompConfiguration &config, moveit_msgs::MoveItErrorCodes &error_code) override
	see base class for documentation
	TrajectoryVisualization ()
virtual	~TrajectoryVisualization ()
Protected Attributes
std_msgs::ColorRGBA	error_rgb_
std::string	group_name_
double	line_width_
std::string	marker_namespace_
std::string	marker_topic_
std::string	name_
ros::NodeHandle	nh_
bool	publish_intermediate_
std_msgs::ColorRGBA	rgb_
moveit::core::RobotModelConstPtr	robot_model_
moveit::core::RobotStatePtr	state_
Eigen::MatrixXd	tool_traj_line_
visualization_msgs::Marker	tool_traj_marker_
ros::Publisher	viz_pub_

Detailed Description

Publishes rviz markers to visualize the optimized trajectory.

Examples:: All examples are located here stomp_core examples

Definition at line 49 of file trajectory_visualization.h.

Constructor & Destructor Documentation

stomp_moveit::update_filters::TrajectoryVisualization::TrajectoryVisualization ( )

Definition at line 107 of file trajectory_visualization.cpp.

stomp_moveit::update_filters::TrajectoryVisualization::~TrajectoryVisualization ( ) [virtual]

Definition at line 117 of file trajectory_visualization.cpp.

Member Function Documentation

bool stomp_moveit::update_filters::TrajectoryVisualization::configure ( const XmlRpc::XmlRpcValue & config ) [override, virtual]

see base class for documentation

Implements stomp_moveit::update_filters::StompUpdateFilter.

Definition at line 139 of file trajectory_visualization.cpp.

void stomp_moveit::update_filters::TrajectoryVisualization::done	(	bool	success,
		int	total_iterations,
		double	final_cost,
		const Eigen::MatrixXd &	parameters
	)		`[override, virtual]`

Called by the Stomp at the end of the optimization process.

Parameters:

success	Whether the optimization succeeded
total_iterations	Number of iterations used
final_cost	The cost value after optimizing.
parameters	The parameters generated at the end of current iteration [num_dimensions x num_timesteps]

Reimplemented from stomp_moveit::update_filters::StompUpdateFilter.

Definition at line 243 of file trajectory_visualization.cpp.

bool stomp_moveit::update_filters::TrajectoryVisualization::filter	(	std::size_t	start_timestep,
		std::size_t	num_timesteps,
		int	iteration_number,
		const Eigen::MatrixXd &	parameters,
		Eigen::MatrixXd &	updates,
		bool &	filtered
	)		`[override, virtual]`

Publishes rviz markers to visualize the optimized trajectory at each iteration.

Parameters:

start_timestep	start index into the 'parameters' array, usually 0.
num_timesteps	number of elements to use from 'parameters' starting from 'start_timestep'
iteration_number	The current iteration count in the optimization loop
parameters	The parameters generated in the previous iteration [num_dimensions x num_timesteps]
updates	The updates to be applied to the parameters [num_dimensions x num_timesteps]
filtered	Always false as this filter never changes the updates values.

Returns:: false if there was an irrecoverable failure, true otherwise.

Implements stomp_moveit::update_filters::StompUpdateFilter.

Definition at line 218 of file trajectory_visualization.cpp.

virtual std::string stomp_moveit::update_filters::TrajectoryVisualization::getGroupName ( ) const [inline, override, virtual]

Reimplemented from stomp_moveit::update_filters::StompUpdateFilter.

Definition at line 103 of file trajectory_visualization.h.

virtual std::string stomp_moveit::update_filters::TrajectoryVisualization::getName ( ) const [inline, override, virtual]

Reimplemented from stomp_moveit::update_filters::StompUpdateFilter.

Definition at line 97 of file trajectory_visualization.h.

bool stomp_moveit::update_filters::TrajectoryVisualization::initialize	(	moveit::core::RobotModelConstPtr	robot_model_ptr,
		const std::string &	group_name,
		const XmlRpc::XmlRpcValue &	config
	)		`[override, virtual]`

see base class for documentation

Implements stomp_moveit::update_filters::StompUpdateFilter.

Definition at line 122 of file trajectory_visualization.cpp.

bool stomp_moveit::update_filters::TrajectoryVisualization::setMotionPlanRequest	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const moveit_msgs::MotionPlanRequest &	req,
		const stomp_core::StompConfiguration &	config,
		moveit_msgs::MoveItErrorCodes &	error_code
	)		`[override, virtual]`

see base class for documentation

Implements stomp_moveit::update_filters::StompUpdateFilter.

Definition at line 182 of file trajectory_visualization.cpp.

Member Data Documentation

std_msgs::ColorRGBA stomp_moveit::update_filters::TrajectoryVisualization::error_rgb_ [protected]

Definition at line 126 of file trajectory_visualization.h.

std::string stomp_moveit::update_filters::TrajectoryVisualization::group_name_ [protected]

Definition at line 115 of file trajectory_visualization.h.

double stomp_moveit::update_filters::TrajectoryVisualization::line_width_ [protected]

Definition at line 124 of file trajectory_visualization.h.

std::string stomp_moveit::update_filters::TrajectoryVisualization::marker_namespace_ [protected]

Definition at line 129 of file trajectory_visualization.h.

std::string stomp_moveit::update_filters::TrajectoryVisualization::marker_topic_ [protected]

Definition at line 128 of file trajectory_visualization.h.

std::string stomp_moveit::update_filters::TrajectoryVisualization::name_ [protected]

Definition at line 112 of file trajectory_visualization.h.

ros::NodeHandle stomp_moveit::update_filters::TrajectoryVisualization::nh_ [protected]

Definition at line 120 of file trajectory_visualization.h.

bool stomp_moveit::update_filters::TrajectoryVisualization::publish_intermediate_ [protected]

Definition at line 127 of file trajectory_visualization.h.

std_msgs::ColorRGBA stomp_moveit::update_filters::TrajectoryVisualization::rgb_ [protected]

Definition at line 125 of file trajectory_visualization.h.

moveit::core::RobotModelConstPtr stomp_moveit::update_filters::TrajectoryVisualization::robot_model_ [protected]

Definition at line 116 of file trajectory_visualization.h.

moveit::core::RobotStatePtr stomp_moveit::update_filters::TrajectoryVisualization::state_ [protected]

Definition at line 117 of file trajectory_visualization.h.

Eigen::MatrixXd stomp_moveit::update_filters::TrajectoryVisualization::tool_traj_line_ [protected]

Definition at line 132 of file trajectory_visualization.h.

visualization_msgs::Marker stomp_moveit::update_filters::TrajectoryVisualization::tool_traj_marker_ [protected]

Definition at line 133 of file trajectory_visualization.h.

ros::Publisher stomp_moveit::update_filters::TrajectoryVisualization::viz_pub_ [protected]

Definition at line 121 of file trajectory_visualization.h.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation