Base class to interface TOWR with a ROS GUI and RVIZ. More...

#include <towr_ros_interface.h>

Inheritance diagram for towr::TowrRosInterface:

Protected Member Functions
virtual Parameters	GetTowrParameters (int n_ee, const TowrCommandMsg &msg) const =0
	Formulates the actual TOWR problem to be solved.
virtual void	SetIpoptParameters (const TowrCommandMsg &msg)=0
	Sets the parameters of the nonlinear programming solver IPOPT.
virtual void	SetTowrInitialState ()=0
	Sets the base state and end-effector position.
	TowrRosInterface ()
virtual	~TowrRosInterface ()
Protected Attributes
NlpFormulation	formulation_
	the default formulation, can be adapted
ifopt::IpoptSolver::Ptr	solver_
	NLP solver, could also use SNOPT.
Private Member Functions
xpp_msgs::RobotParameters	BuildRobotParametersMsg (const RobotModel &model) const
virtual BaseState	GetGoalState (const TowrCommandMsg &msg) const
std::vector< XppVec >	GetIntermediateSolutions ()
XppVec	GetTrajectory () const
void	PublishInitialState ()
void	SaveOptimizationAsRosbag (const std::string &bag_name, const xpp_msgs::RobotParameters &robot_params, const TowrCommandMsg user_command_msg, bool include_iterations=false)
void	SaveTrajectoryInRosbag (rosbag::Bag &, const std::vector< xpp::RobotStateCartesian > &traj, const std::string &topic) const
void	UserCommandCallback (const TowrCommandMsg &msg)
Private Attributes
::ros::Publisher	initial_state_pub_
ifopt::Problem	nlp_
	the actual nonlinear program to be solved.
::ros::Publisher	robot_parameters_pub_
SplineHolder	solution
	the solution splines linked to the opt-variables.
::ros::Subscriber	user_command_sub_
double	visualization_dt_
	duration between two rviz visualization states.

Detailed Description

Base class to interface TOWR with a ROS GUI and RVIZ.

This is very convenient to change goal states or terrains on the fly and test how your formulation holds up. A sample application implementing this interface is TowrRosApp.

Definition at line 57 of file towr_ros_interface.h.

Constructor & Destructor Documentation

towr::TowrRosInterface::TowrRosInterface ( ) [protected]

Definition at line 47 of file towr_ros_interface.cc.

virtual towr::TowrRosInterface::~TowrRosInterface ( ) [protected, virtual]

Member Function Documentation

xpp_msgs::RobotParameters towr::TowrRosInterface::BuildRobotParametersMsg ( const RobotModel & model ) const [private]

Definition at line 200 of file towr_ros_interface.cc.

BaseState towr::TowrRosInterface::GetGoalState ( const TowrCommandMsg & msg ) const [private, virtual]

Definition at line 66 of file towr_ros_interface.cc.

std::vector< TowrRosInterface::XppVec > towr::TowrRosInterface::GetIntermediateSolutions ( ) [private]

Definition at line 152 of file towr_ros_interface.cc.

virtual Parameters towr::TowrRosInterface::GetTowrParameters	(	int	n_ee,
		const TowrCommandMsg &	msg
	)		const `[protected, pure virtual]`

Formulates the actual TOWR problem to be solved.

Parameters:

msg	User message to adjust the parameters dynamically.

When formulating your own application, here you can set your specific set of constraints and variables.

Implemented in towr::TowrRosApp.

TowrRosInterface::XppVec towr::TowrRosInterface::GetTrajectory ( ) const [private]

Definition at line 165 of file towr_ros_interface.cc.

void towr::TowrRosInterface::PublishInitialState ( ) [private]

Definition at line 134 of file towr_ros_interface.cc.

void towr::TowrRosInterface::SaveOptimizationAsRosbag	(	const std::string &	bag_name,
		const xpp_msgs::RobotParameters &	robot_params,
		const TowrCommandMsg	user_command_msg,
		bool	include_iterations = `false`
	)		`[private]`

Definition at line 220 of file towr_ros_interface.cc.

void towr::TowrRosInterface::SaveTrajectoryInRosbag	(	rosbag::Bag &	,
		const std::vector< xpp::RobotStateCartesian > &	traj,
		const std::string &	topic
	)		const `[private]`