chomp::ChompOptimizer Class Reference

#include <chomp_optimizer.hpp>

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.hpp.

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.hpp.

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isCollisionFree()

bool chomp::ChompOptimizer::isCollisionFree ( ) const

inline

Definition at line 78 of file chomp_optimizer.hpp.

isInitialized()

bool chomp::ChompOptimizer::isInitialized ( ) const

inline

Definition at line 73 of file chomp_optimizer.hpp.

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:

• moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_optimizer.hpp
• moveit_planners/chomp/chomp_motion_planner/src/chomp_optimizer.cpp