#include <joint_model_state_space.h>
Inheritance diagram for ompl_interface::JointModelStateSpace:
Collaboration diagram for ompl_interface::JointModelStateSpace:
Public Member Functions | |
| JointModelStateSpace (const ModelBasedStateSpaceSpecification &spec) | |
| const std::string & | getParameterizationType () const override |
 Public Member Functions inherited from ompl_interface::ModelBasedStateSpace | |
| ModelBasedStateSpace (ModelBasedStateSpaceSpecification spec) | |
| ~ModelBasedStateSpace () override | |
| void | setInterpolationFunction (const InterpolationFunction &fun) |
| void | setDistanceFunction (const DistanceFunction &fun) |
| ompl::base::State * | allocState () const override |
| void | freeState (ompl::base::State *state) const override |
| unsigned int | getDimension () const override |
| void | enforceBounds (ompl::base::State *state) const override |
| bool | satisfiesBounds (const ompl::base::State *state) const override |
| void | copyState (ompl::base::State *destination, const ompl::base::State *source) const override |
| void | interpolate (const ompl::base::State *from, const ompl::base::State *to, const double t, ompl::base::State *state) const override |
| double | distance (const ompl::base::State *state1, const ompl::base::State *state2) const override |
| bool | equalStates (const ompl::base::State *state1, const ompl::base::State *state2) const override |
| double | getMaximumExtent () const override |
| double | getMeasure () const override |
| unsigned int | getSerializationLength () const override |
| void | serialize (void *serialization, const ompl::base::State *state) const override |
| void | deserialize (ompl::base::State *state, const void *serialization) const override |
| double * | getValueAddressAtIndex (ompl::base::State *state, const unsigned int index) const override |
| ompl::base::StateSamplerPtr | allocDefaultStateSampler () const override |
| const moveit::core::RobotModelConstPtr & | getRobotModel () const |
| const moveit::core::JointModelGroup * | getJointModelGroup () const |
| const std::string & | getJointModelGroupName () const |
| const ModelBasedStateSpaceSpecification & | getSpecification () const |
| void | printState (const ompl::base::State *state, std::ostream &out) const override |
| void | printSettings (std::ostream &out) const override |
| virtual void | setPlanningVolume (double minX, double maxX, double minY, double maxY, double minZ, double maxZ) |
| Set the planning volume for the possible SE2 and/or SE3 components of the state space. More... | |
| const moveit::core::JointBoundsVector & | getJointsBounds () const |
| virtual void | copyToRobotState (moveit::core::RobotState &rstate, const ompl::base::State *state) const |
| Copy the data from an OMPL state to a set of joint states. More... | |
| virtual void | copyToOMPLState (ompl::base::State *state, const moveit::core::RobotState &rstate) const |
| Copy the data from a set of joint states to an OMPL state. More... | |
| virtual void | copyJointToOMPLState (ompl::base::State *state, const moveit::core::RobotState &robot_state, const moveit::core::JointModel *joint_model, int ompl_state_joint_index) const |
| Copy a single joint's values (which might have multiple variables) from a MoveIt robot_state to an OMPL state. More... | |
| double | getTagSnapToSegment () const |
| void | setTagSnapToSegment (double snap) |
Static Public Attributes | |
| static const std::string | PARAMETERIZATION_TYPE = "JointModel" |
Additional Inherited Members | |
| Protected Attributes inherited from ompl_interface::ModelBasedStateSpace | |
| ModelBasedStateSpaceSpecification | spec_ |
| std::vector< moveit::core::JointModel::Bounds > | joint_bounds_storage_ |
| std::vector< const moveit::core::JointModel * > | joint_model_vector_ |
| unsigned int | variable_count_ |
| size_t | state_values_size_ |
| InterpolationFunction | interpolation_function_ |
| DistanceFunction | distance_function_ |
| double | tag_snap_to_segment_ |
| double | tag_snap_to_segment_complement_ |
Detailed Description
Definition at line 43 of file joint_model_state_space.h.
Constructor & Destructor Documentation
◆ JointModelStateSpace()
| ompl_interface::JointModelStateSpace::JointModelStateSpace | ( | const ModelBasedStateSpaceSpecification & | spec | ) |
Definition at line 41 of file joint_model_state_space.cpp.
Member Function Documentation
◆ getParameterizationType()
|
inlineoverridevirtual |
Implements ompl_interface::ModelBasedStateSpace.
Definition at line 50 of file joint_model_state_space.h.
Member Data Documentation
◆ PARAMETERIZATION_TYPE
|
static |
Definition at line 46 of file joint_model_state_space.h.
The documentation for this class was generated from the following files:
- moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space.h
- moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/joint_model_state_space.cpp
