Checks that the joint values are within the limits as defined in the urdf file. It modifies the values of those joints that exceed the limits. More...

#include <joint_limits.h>

Inheritance diagram for stomp_moveit::noisy_filters::JointLimits:

[legend]

Public Member Functions
virtual bool	configure (const XmlRpc::XmlRpcValue &config) override
	see base class for documentation

virtual bool	filter (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, int rollout_number, Eigen::MatrixXd &parameters, bool &filtered) override
	Sets the joint values to the closest joint limit whenever it's found outside the allowed range. More...

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

Public Member Functions inherited from stomp_moveit::noisy_filters::StompNoisyFilter
virtual void	done (bool success, int total_iterations, double final_cost, const Eigen::MatrixXd &parameters)
	Called by the Stomp at the end of the optimization process. More...

virtual void	postIteration (std::size_t start_timestep, std::size_t num_timesteps, int iteration_number, double cost, const Eigen::MatrixXd &parameters)
	Called by STOMP at the end of each iteration. More...

Protected Attributes
moveit::core::RobotStatePtr	goal_state_

std::string	group_name_

bool	has_goal_constraints_

bool	lock_goal_

bool	lock_start_

moveit::core::RobotModelConstPtr	robot_model_

moveit::core::RobotStatePtr	start_state_
	True if a joint constraint for the goal was provided.

Detailed Description

Checks that the joint values are within the limits as defined in the urdf file. It modifies the values of those joints that exceed the limits.

Examples:: All examples are located here STOMP MoveIt! examples

Definition at line 46 of file joint_limits.h.

Member Function Documentation

bool stomp_moveit::noisy_filters::JointLimits::filter	(	std::size_t	start_timestep,
		std::size_t	num_timesteps,
		int	iteration_number,
		int	rollout_number,
		Eigen::MatrixXd &	parameters,
		bool &	filtered
	)

overridevirtual

Sets the joint values to the closest joint limit whenever it's found outside the allowed range.

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.
rollout_number	Index of the noisy trajectory whose cost is being evaluated.
parameters	Output argument containing the parameters to be filtered [num_dimensions x num_timesteps].
filtered	Output argument that's set to 'true' if the parameters were changed according to the filtering method.

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

Implements stomp_moveit::noisy_filters::StompNoisyFilter.

Definition at line 152 of file joint_limits.cpp.

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

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation