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

#include <towr_ros_interface.h>

Inheritance diagram for towr::TowrRosInterface:

Public Types
using	TowrCommandMsg = towr_ros::TowrCommand

using	Vector3d = Eigen::Vector3d

using	XppVec = std::vector< xpp::RobotStateCartesian >

Protected Member Functions
virtual Parameters	GetTowrParameters (int n_ee, const TowrCommandMsg &msg) const =0
	Formulates the actual TOWR problem to be solved. More...

virtual void	SetIpoptParameters (const TowrCommandMsg &msg)=0
	Sets the parameters of the nonlinear programming solver IPOPT. More...

virtual void	SetTowrInitialState ()=0
	Sets the base state and end-effector position. More...

	TowrRosInterface ()

virtual	~TowrRosInterface ()=default

Protected Attributes
NlpFormulation	formulation_
	the default formulation, can be adapted More...

ifopt::IpoptSolver::Ptr	solver_
	NLP solver, could also use SNOPT. More...

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. More...

::ros::Publisher	robot_parameters_pub_

SplineHolder	solution
	the solution splines linked to the opt-variables. More...

::ros::Subscriber	user_command_sub_

double	visualization_dt_
	duration between two rviz visualization states. More...

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.

Member Typedef Documentation

using towr::TowrRosInterface::TowrCommandMsg = towr_ros::TowrCommand

Definition at line 60 of file towr_ros_interface.h.

using towr::TowrRosInterface::Vector3d = Eigen::Vector3d

Definition at line 61 of file towr_ros_interface.h.

using towr::TowrRosInterface::XppVec = std::vector<xpp::RobotStateCartesian>

Definition at line 59 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 ( )

protectedvirtualdefault

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

privatevirtual

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

protectedpure 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 &	bag,
		const std::vector< xpp::RobotStateCartesian > &	traj,
		const std::string &	topic
	)		const

private

Definition at line 254 of file towr_ros_interface.cc.

virtual void towr::TowrRosInterface::SetIpoptParameters ( const TowrCommandMsg & msg )

protectedpure virtual

Sets the parameters of the nonlinear programming solver IPOPT.

Parameters

msg	User message that can be used to change the parameters.

Implemented in towr::TowrRosApp.

virtual void towr::TowrRosInterface::SetTowrInitialState ( )

protectedpure virtual

Sets the base state and end-effector position.

Implemented in towr::TowrRosApp.

void towr::TowrRosInterface::UserCommandCallback ( const TowrCommandMsg & msg )

private

Definition at line 78 of file towr_ros_interface.cc.

Member Data Documentation

NlpFormulation towr::TowrRosInterface::formulation_

protected

the default formulation, can be adapted

Definition at line 87 of file towr_ros_interface.h.

::ros::Publisher towr::TowrRosInterface::initial_state_pub_

private

Definition at line 96 of file towr_ros_interface.h.

ifopt::Problem towr::TowrRosInterface::nlp_

private

the actual nonlinear program to be solved.

Definition at line 92 of file towr_ros_interface.h.

::ros::Publisher towr::TowrRosInterface::robot_parameters_pub_

private

Definition at line 97 of file towr_ros_interface.h.

SplineHolder towr::TowrRosInterface::solution

private

the solution splines linked to the opt-variables.

Definition at line 91 of file towr_ros_interface.h.

ifopt::IpoptSolver::Ptr towr::TowrRosInterface::solver_

protected

NLP solver, could also use SNOPT.

Definition at line 88 of file towr_ros_interface.h.

::ros::Subscriber towr::TowrRosInterface::user_command_sub_

private

Definition at line 95 of file towr_ros_interface.h.

double towr::TowrRosInterface::visualization_dt_

private

duration between two rviz visualization states.

Definition at line 93 of file towr_ros_interface.h.

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

Public Types

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation