ompl_interface::JointModelStateSpace Class Reference

#include <joint_model_state_space.hpp>

Inheritance diagram for ompl_interface::JointModelStateSpace:

Collaboration diagram for ompl_interface::JointModelStateSpace:

Public Member Functions
	JointModelStateSpace (const ModelBasedStateSpaceSpecification &spec)
const std::string &	getParameterizationType () const override
Public Member Functions inherited from ompl_interface::ModelBasedStateSpace
	ModelBasedStateSpace (ModelBasedStateSpaceSpecification spec)
	~ModelBasedStateSpace () override
void	setInterpolationFunction (const InterpolationFunction &fun)
void	setDistanceFunction (const DistanceFunction &fun)
ompl::base::State *	allocState () const override
void	freeState (ompl::base::State *state) const override
unsigned int	getDimension () const override
void	enforceBounds (ompl::base::State *state) const override
bool	satisfiesBounds (const ompl::base::State *state) const override
void	copyState (ompl::base::State *destination, const ompl::base::State *source) const override
void	interpolate (const ompl::base::State *from, const ompl::base::State *to, const double t, ompl::base::State *state) const override
double	distance (const ompl::base::State *state1, const ompl::base::State *state2) const override
bool	equalStates (const ompl::base::State *state1, const ompl::base::State *state2) const override
double	getMaximumExtent () const override
double	getMeasure () const override
unsigned int	getSerializationLength () const override
void	serialize (void *serialization, const ompl::base::State *state) const override
void	deserialize (ompl::base::State *state, const void *serialization) const override
double *	getValueAddressAtIndex (ompl::base::State *state, const unsigned int index) const override
ompl::base::StateSamplerPtr	allocDefaultStateSampler () const override
const moveit::core::RobotModelConstPtr &	getRobotModel () const
const moveit::core::JointModelGroup *	getJointModelGroup () const
const std::string &	getJointModelGroupName () const
const ModelBasedStateSpaceSpecification &	getSpecification () const
void	printState (const ompl::base::State *state, std::ostream &out) const override
void	printSettings (std::ostream &out) const override
virtual void	setPlanningVolume (double minX, double maxX, double minY, double maxY, double minZ, double maxZ)
	Set the planning volume for the possible SE2 and/or SE3 components of the state space.
const moveit::core::JointBoundsVector &	getJointsBounds () const
virtual void	copyToRobotState (moveit::core::RobotState &rstate, const ompl::base::State *state) const
	Copy the data from an OMPL state to a set of joint states.
virtual void	copyToOMPLState (ompl::base::State *state, const moveit::core::RobotState &rstate) const
	Copy the data from a set of joint states to an OMPL state.
virtual void	copyJointToOMPLState (ompl::base::State *state, const moveit::core::RobotState &robot_state, const moveit::core::JointModel *joint_model, int ompl_state_joint_index) const
	Copy a single joint's values (which might have multiple variables) from a MoveIt robot_state to an OMPL state.
double	getTagSnapToSegment () const
void	setTagSnapToSegment (double snap)

Static Public Attributes
static const std::string	PARAMETERIZATION_TYPE = "JointModel"

Additional Inherited Members
Protected Attributes inherited from ompl_interface::ModelBasedStateSpace
ModelBasedStateSpaceSpecification	spec_
std::vector< moveit::core::JointModel::Bounds >	joint_bounds_storage_
std::vector< const moveit::core::JointModel * >	joint_model_vector_
unsigned int	variable_count_
size_t	state_values_size_
InterpolationFunction	interpolation_function_
DistanceFunction	distance_function_
double	tag_snap_to_segment_
double	tag_snap_to_segment_complement_

Detailed Description

Definition at line 43 of file joint_model_state_space.hpp.

Constructor & Destructor Documentation

JointModelStateSpace()

ompl_interface::JointModelStateSpace::JointModelStateSpace

(

const ModelBasedStateSpaceSpecification &

spec

)

Definition at line 41 of file joint_model_state_space.cpp.

Here is the call graph for this function:

Member Function Documentation

getParameterizationType()

const std::string & ompl_interface::JointModelStateSpace::getParameterizationType ( ) const

inlineoverridevirtual

Implements ompl_interface::ModelBasedStateSpace.

Definition at line 50 of file joint_model_state_space.hpp.

Member Data Documentation

PARAMETERIZATION_TYPE

const std::string ompl_interface::JointModelStateSpace::PARAMETERIZATION_TYPE = "JointModel"

static

Definition at line 46 of file joint_model_state_space.hpp.

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

• moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/joint_space/joint_model_state_space.hpp
• moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/joint_model_state_space.cpp