moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Public Member Functions | List of all members
chomp::ChompOptimizer Class Reference

#include <chomp_optimizer.h>

Public Member Functions

 ChompOptimizer (ChompTrajectory *trajectory, const planning_scene::PlanningSceneConstPtr &planning_scene, const std::string &planning_group, const ChompParameters *parameters, const moveit::core::RobotState &start_state)
 
virtual ~ChompOptimizer ()
 
bool optimize ()
 
void destroy ()
 
bool isInitialized () const
 
bool isCollisionFree () const
 

Detailed Description

Definition at line 53 of file chomp_optimizer.h.

Constructor & Destructor Documentation

◆ ChompOptimizer()

chomp::ChompOptimizer::ChompOptimizer ( ChompTrajectory trajectory,
const planning_scene::PlanningSceneConstPtr &  planning_scene,
const std::string &  planning_group,
const ChompParameters parameters,
const moveit::core::RobotState start_state 
)

Definition at line 61 of file chomp_optimizer.cpp.

◆ ~ChompOptimizer()

chomp::ChompOptimizer::~ChompOptimizer ( )
virtual

Definition at line 246 of file chomp_optimizer.cpp.

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Member Function Documentation

◆ destroy()

void chomp::ChompOptimizer::destroy ( )
inline

Definition at line 68 of file chomp_optimizer.h.

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◆ isCollisionFree()

bool chomp::ChompOptimizer::isCollisionFree ( ) const
inline

Definition at line 78 of file chomp_optimizer.h.

◆ isInitialized()

bool chomp::ChompOptimizer::isInitialized ( ) const
inline

Definition at line 73 of file chomp_optimizer.h.

◆ optimize()

bool chomp::ChompOptimizer::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

TODO: HMC BASED COMMENTED CODE BELOW, Need to uncomment and perform extensive testing by varying the HMC parameters values in the chomp_planning.yaml file so that CHOMP can find optimal paths

TODO: HMC BASED COMMENTED CODE BELOW, Need to uncomment and perform extensive testing by varying the HMC parameters values in the chomp_planning.yaml file so that CHOMP can find optimal paths

TODO: HMC BASED COMMENTED CODE BELOW, Need to uncomment and perform extensive testing by varying the HMC parameters values in the chomp_planning.yaml file so that CHOMP can find optimal paths

TODO: HMC BASED COMMENTED CODE BELOW, Need to uncomment and perform extensive testing by varying the HMC parameters values in the chomp_planning.yaml file so that CHOMP can find optimal paths

Definition at line 290 of file chomp_optimizer.cpp.

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