trajopt_interface::TrajOptInterface Class Reference

#include <trajopt_interface.h>

Public Member Functions
	TrajOptInterface (const ros::NodeHandle &nh=ros::NodeHandle("~"))
const sco::BasicTrustRegionSQPParameters &	getParams () const
bool	solve (const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, moveit_msgs::MotionPlanDetailedResponse &res)

Protected Member Functions
void	setTrajOptParams (sco::BasicTrustRegionSQPParameters &param)
	Configure everything using the param server. More...
void	setDefaultTrajOPtParams ()
void	setProblemInfoParam (ProblemInfo &problem_info)
void	setJointPoseTermInfoParams (JointPoseTermInfoPtr &jp, std::string name)
trajopt::DblVec	extractStartJointValues (const planning_interface::MotionPlanRequest &req, const std::vector< std::string > &group_joint_names)

Protected Attributes
ros::NodeHandle	nh_
sco::BasicTrustRegionSQPParameters	params_
	The ROS node handle. More...
std::vector< sco::Optimizer::Callback >	optimizer_callbacks_
TrajOptProblemPtr	trajopt_problem_
std::string	name_

Detailed Description

Definition at line 47 of file trajopt_interface.h.

Constructor & Destructor Documentation

TrajOptInterface()

trajopt_interface::TrajOptInterface::TrajOptInterface

(

const ros::NodeHandle &

nh = ros::NodeHandle("~")

)

Definition at line 61 of file trajopt_interface.cpp.

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Member Function Documentation

extractStartJointValues()

trajopt::DblVec trajopt_interface::TrajOptInterface::extractStartJointValues ( const planning_interface::MotionPlanRequest &  req, const std::vector< std::string > &  group_joint_names  )

protected

Definition at line 438 of file trajopt_interface.cpp.

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getParams()

const sco::BasicTrustRegionSQPParameters& trajopt_interface::TrajOptInterface::getParams ( ) const

inline

Definition at line 52 of file trajopt_interface.h.

setDefaultTrajOPtParams()

void trajopt_interface::TrajOptInterface::setDefaultTrajOPtParams ( )

protected

Definition at line 345 of file trajopt_interface.cpp.

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setJointPoseTermInfoParams()

void trajopt_interface::TrajOptInterface::setJointPoseTermInfoParams ( JointPoseTermInfoPtr &  jp, std::string  name  )

protected

Definition at line 414 of file trajopt_interface.cpp.

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setProblemInfoParam()

void trajopt_interface::TrajOptInterface::setProblemInfoParam ( ProblemInfo &  problem_info )

protected

Definition at line 369 of file trajopt_interface.cpp.

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setTrajOptParams()

void trajopt_interface::TrajOptInterface::setTrajOptParams ( sco::BasicTrustRegionSQPParameters &  param )

protected

Configure everything using the param server.

Definition at line 351 of file trajopt_interface.cpp.

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solve()

bool trajopt_interface::TrajOptInterface::solve	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const planning_interface::MotionPlanRequest &	req,
		moveit_msgs::MotionPlanDetailedResponse &	res
	)

Definition at line 70 of file trajopt_interface.cpp.

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Member Data Documentation

name_

std::string trajopt_interface::TrajOptInterface::name_

protected

Definition at line 73 of file trajopt_interface.h.

nh_

ros::NodeHandle trajopt_interface::TrajOptInterface::nh_

protected

Definition at line 69 of file trajopt_interface.h.

optimizer_callbacks_

std::vector<sco::Optimizer::Callback> trajopt_interface::TrajOptInterface::optimizer_callbacks_

protected

Definition at line 71 of file trajopt_interface.h.

params_

sco::BasicTrustRegionSQPParameters trajopt_interface::TrajOptInterface::params_

protected

The ROS node handle.

Definition at line 70 of file trajopt_interface.h.

trajopt_problem_

TrajOptProblemPtr trajopt_interface::TrajOptInterface::trajopt_problem_

protected

Definition at line 72 of file trajopt_interface.h.

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

• moveit_planners/trajopt/include/trajopt_interface/trajopt_interface.h
• moveit_planners/trajopt/src/trajopt_interface.cpp