Class ChompOptimizer
Defined in File chomp_optimizer.h
Class Documentation
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class ChompOptimizer
Public Functions
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ChompOptimizer(ChompTrajectory *trajectory, const planning_scene::PlanningSceneConstPtr &planning_scene, const std::string &planning_group, const ChompParameters *parameters, const moveit::core::RobotState &start_state)
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virtual ~ChompOptimizer()
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bool optimize()
Optimizes the CHOMP cost function and tries to find an optimal path
- Returns:
true if an optimal collision free path is found else returns false
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inline void destroy()
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inline bool isInitialized() const
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inline bool isCollisionFree() const
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ChompOptimizer(ChompTrajectory *trajectory, const planning_scene::PlanningSceneConstPtr &planning_scene, const std::string &planning_group, const ChompParameters *parameters, const moveit::core::RobotState &start_state)