The MoveIt Motion Planning Framework for ROS 2.
Public Member Functions | Static Public Attributes | List of all members
ompl_interface::JointModelStateSpace Class Reference

#include <joint_model_state_space.h>

Inheritance diagram for ompl_interface::JointModelStateSpace:
Inheritance graph
Collaboration diagram for ompl_interface::JointModelStateSpace:
Collaboration graph

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::JointModelGroupgetJointModelGroup () const
const std::string & getJointModelGroupName () const
const ModelBasedStateSpaceSpecificationgetSpecification () 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. More...
const moveit::core::JointBoundsVectorgetJointsBounds () 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. More...
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. More...
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. More...
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::Boundsjoint_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

Implements ompl_interface::ModelBasedStateSpace.

Definition at line 50 of file joint_model_state_space.h.

Member Data Documentation


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

Definition at line 46 of file joint_model_state_space.h.

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