#include <joint_model_state_space.h>

Inheritance diagram for ompl_interface::JointModelStateSpace:

[legend]

Collaboration diagram for ompl_interface::JointModelStateSpace:

[legend]

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.h.

Constructor & Destructor Documentation

◆ JointModelStateSpace()

ompl_interface::JointModelStateSpace::JointModelStateSpace ( const ModelBasedStateSpaceSpecification & spec )

Definition at line 41 of file joint_model_state_space.cpp.

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.h.

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.h.

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.h
moveit_planners/ompl/ompl_interface/src/parameterization/joint_space/joint_model_state_space.cpp

Public Member Functions

Static Public Attributes