Used to calculate the error for StaticCartPoseTermInfo This is converted to a cost or constraint using TrajOptCostFromErrFunc or TrajOptConstraintFromErrFunc. More...

#include <kinematic_terms.h>

Inheritance diagram for trajopt_interface::CartPoseErrCalculator:

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Collaboration diagram for trajopt_interface::CartPoseErrCalculator:

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Public Member Functions
	CartPoseErrCalculator (const Eigen::Isometry3d &pose, const planning_scene::PlanningSceneConstPtr planning_scene, const std::string &link, Eigen::Isometry3d tcp=Eigen::Isometry3d::Identity())

Eigen::VectorXd	operator() (const Eigen::VectorXd &dof_vals) const override

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Isometry3d	target_pose_inv_

planning_scene::PlanningSceneConstPtr	planning_scene_

std::string	link_

Eigen::Isometry3d	tcp_

Detailed Description

Used to calculate the error for StaticCartPoseTermInfo This is converted to a cost or constraint using TrajOptCostFromErrFunc or TrajOptConstraintFromErrFunc.

Definition at line 46 of file kinematic_terms.h.

Constructor & Destructor Documentation

◆ CartPoseErrCalculator()

trajopt_interface::CartPoseErrCalculator::CartPoseErrCalculator	(	const Eigen::Isometry3d &	pose,
		const planning_scene::PlanningSceneConstPtr	planning_scene,
		const std::string &	link,
		Eigen::Isometry3d	tcp = `Eigen::Isometry3d::Identity()`
	)

inline

Definition at line 54 of file kinematic_terms.h.

Member Function Documentation

◆ operator()()

VectorXd trajopt_interface::CartPoseErrCalculator::operator() ( const Eigen::VectorXd & dof_vals ) const

override

Definition at line 15 of file kinematic_terms.cpp.

Member Data Documentation

◆ link_

std::string trajopt_interface::CartPoseErrCalculator::link_

Definition at line 51 of file kinematic_terms.h.

◆ planning_scene_

planning_scene::PlanningSceneConstPtr trajopt_interface::CartPoseErrCalculator::planning_scene_

Definition at line 50 of file kinematic_terms.h.

◆ target_pose_inv_

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Isometry3d trajopt_interface::CartPoseErrCalculator::target_pose_inv_

Definition at line 49 of file kinematic_terms.h.

◆ tcp_

Eigen::Isometry3d trajopt_interface::CartPoseErrCalculator::tcp_

Definition at line 52 of file kinematic_terms.h.

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

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

Public Member Functions

Public Attributes