This term is used when the goal frame is fixed in cartesian space. More...

#include <problem_description.h>

Inheritance diagram for trajopt_interface::CartPoseTermInfo:

Collaboration diagram for trajopt_interface::CartPoseTermInfo:

Public Member Functions
	CartPoseTermInfo ()

void	addObjectiveTerms (TrajOptProblem &prob) override
	Used to add term to pci from json. More...

Public Member Functions inherited from trajopt_interface::TermInfo
int	getSupportedTypes ()

	TermInfo ()=default

	TermInfo (const TermInfo &)=default

	TermInfo (TermInfo &&)=default

TermInfo &	operator= (const TermInfo &)=default

TermInfo &	operator= (TermInfo &&)=default

virtual	~TermInfo ()=default

Static Public Member Functions
static TermInfoPtr	create ()

Static Public Member Functions inherited from trajopt_interface::TermInfo
static TermInfoPtr	fromName (const std::string &type)

static void	RegisterMaker (const std::string &type, MakerFunc)

Public Attributes
int	timestep
	Timestep at which to apply term. More...

Eigen::Vector3d	xyz
	Cartesian position. More...

Eigen::Vector4d	wxyz
	Rotation quaternion. More...

Eigen::Vector3d	pos_coeffs
	coefficients for position and rotation More...

Eigen::Vector3d	rot_coeffs

std::string	link
	Link which should reach desired pose. More...

Eigen::Isometry3d	tcp
	Static transform applied to the link. More...

Public Attributes inherited from trajopt_interface::TermInfo
std::string	name

int	term_type

Additional Inherited Members
Public Types inherited from trajopt_interface::TermInfo
using	MakerFunc = TermInfoPtr(*)(void)

Protected Member Functions inherited from trajopt_interface::TermInfo
	TermInfo (int supported_term_types)

Detailed Description

This term is used when the goal frame is fixed in cartesian space.

Set term_type == TT_COST or TT_CNT for cost or constraint.

Definition at line 268 of file problem_description.h.

Constructor & Destructor Documentation

◆ CartPoseTermInfo()

trajopt_interface::CartPoseTermInfo::CartPoseTermInfo ( )

Definition at line 268 of file problem_description.cpp.

Member Function Documentation

◆ addObjectiveTerms()

void trajopt_interface::CartPoseTermInfo::addObjectiveTerms ( TrajOptProblem & prob )

overridevirtual

Used to add term to pci from json.

Converts term info into cost/constraint and adds it to trajopt problem

Implements trajopt_interface::TermInfo.

Definition at line 275 of file problem_description.cpp.

Here is the call graph for this function:

◆ create()

static TermInfoPtr trajopt_interface::CartPoseTermInfo::create ( )

inlinestatic

Definition at line 292 of file problem_description.h.

Member Data Documentation

◆ link

std::string trajopt_interface::CartPoseTermInfo::link

Link which should reach desired pose.

Definition at line 281 of file problem_description.h.

◆ pos_coeffs

Eigen::Vector3d trajopt_interface::CartPoseTermInfo::pos_coeffs

coefficients for position and rotation

Definition at line 279 of file problem_description.h.

◆ rot_coeffs

Eigen::Vector3d trajopt_interface::CartPoseTermInfo::rot_coeffs

Definition at line 279 of file problem_description.h.

◆ tcp

Eigen::Isometry3d trajopt_interface::CartPoseTermInfo::tcp

Static transform applied to the link.

Definition at line 283 of file problem_description.h.

◆ timestep

int trajopt_interface::CartPoseTermInfo::timestep

Timestep at which to apply term.

Definition at line 273 of file problem_description.h.

◆ wxyz

Eigen::Vector4d trajopt_interface::CartPoseTermInfo::wxyz

Rotation quaternion.

Definition at line 277 of file problem_description.h.

◆ xyz

Eigen::Vector3d trajopt_interface::CartPoseTermInfo::xyz

Cartesian position.

Definition at line 275 of file problem_description.h.

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

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

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members