#include <model_based_state_space.h>

Inheritance diagram for ompl_interface::ModelBasedStateSpace:

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Classes
class	StateType

Public Member Functions
	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

virtual const std::string &	getParameterizationType () const =0

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)

Protected Attributes
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 74 of file model_based_state_space.h.

Constructor & Destructor Documentation

◆ ModelBasedStateSpace()

ompl_interface::ModelBasedStateSpace::ModelBasedStateSpace ( ModelBasedStateSpaceSpecification spec )

expose parameters

Definition at line 51 of file model_based_state_space.cpp.

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◆ ~ModelBasedStateSpace()

ompl_interface::ModelBasedStateSpace::~ModelBasedStateSpace ( )

overridedefault

Member Function Documentation

◆ allocDefaultStateSampler()

ompl::base::StateSamplerPtr ompl_interface::ModelBasedStateSpace::allocDefaultStateSampler ( ) const

override

Definition at line 269 of file model_based_state_space.cpp.

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◆ allocState()

ompl::base::State * ompl_interface::ModelBasedStateSpace::allocState ( ) const

override

Definition at line 112 of file model_based_state_space.cpp.

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◆ copyJointToOMPLState()

void ompl_interface::ModelBasedStateSpace::copyJointToOMPLState	(	ompl::base::State *	state,
		const moveit::core::RobotState &	robot_state,
		const moveit::core::JointModel *	joint_model,
		int	ompl_state_joint_index
	)		const

virtual

Copy a single joint's values (which might have multiple variables) from a MoveIt robot_state to an OMPL state.

Parameters

state	- output OMPL state with single joint modified
robot_state	- input MoveIt state to get the joint value from
joint_model	- the joint to copy values of
ompl_state_joint_index	- the index of the joint in the ompl state (passed in for efficiency, you should cache this index) e.g. ompl_state_joint_index = joint_model_group_->getVariableGroupIndex("virtual_joint");

Reimplemented in ompl_interface::ConstrainedPlanningStateSpace.

Definition at line 356 of file model_based_state_space.cpp.

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◆ copyState()

void ompl_interface::ModelBasedStateSpace::copyState	(	ompl::base::State *	destination,
		const ompl::base::State *	source
	)		const

override

Definition at line 125 of file model_based_state_space.cpp.

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◆ copyToOMPLState()

void ompl_interface::ModelBasedStateSpace::copyToOMPLState	(	ompl::base::State *	state,
		const moveit::core::RobotState &	rstate
	)		const

virtual

Copy the data from a set of joint states to an OMPL state.

Reimplemented in ompl_interface::ConstrainedPlanningStateSpace, and ompl_interface::PoseModelStateSpace.

Definition at line 349 of file model_based_state_space.cpp.

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◆ copyToRobotState()

void ompl_interface::ModelBasedStateSpace::copyToRobotState	(	moveit::core::RobotState &	rstate,
		const ompl::base::State *	state
	)		const

virtual

Copy the data from an OMPL state to a set of joint states.

Reimplemented in ompl_interface::ConstrainedPlanningStateSpace.

Definition at line 343 of file model_based_state_space.cpp.

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◆ deserialize()

void ompl_interface::ModelBasedStateSpace::deserialize	(	ompl::base::State *	state,
		const void *	serialization
	)		const

override

Definition at line 144 of file model_based_state_space.cpp.

◆ distance()

double ompl_interface::ModelBasedStateSpace::distance	(	const ompl::base::State *	state1,
		const ompl::base::State *	state2
	)		const

override

Definition at line 176 of file model_based_state_space.cpp.

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◆ enforceBounds()

void ompl_interface::ModelBasedStateSpace::enforceBounds ( ompl::base::State * state ) const

override

Definition at line 199 of file model_based_state_space.cpp.

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◆ equalStates()

bool ompl_interface::ModelBasedStateSpace::equalStates	(	const ompl::base::State *	state1,
		const ompl::base::State *	state2
	)		const

override

Definition at line 188 of file model_based_state_space.cpp.

◆ freeState()

void ompl_interface::ModelBasedStateSpace::freeState ( ompl::base::State * state ) const

override

Definition at line 119 of file model_based_state_space.cpp.

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◆ getDimension()

unsigned int ompl_interface::ModelBasedStateSpace::getDimension ( ) const

override

Definition at line 150 of file model_based_state_space.cpp.

◆ getJointModelGroup()

const moveit::core::JointModelGroup * ompl_interface::ModelBasedStateSpace::getJointModelGroup ( ) const

inline

Definition at line 210 of file model_based_state_space.h.

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◆ getJointModelGroupName()

const std::string & ompl_interface::ModelBasedStateSpace::getJointModelGroupName ( ) const

inline

Definition at line 215 of file model_based_state_space.h.

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◆ getJointsBounds()

const moveit::core::JointBoundsVector & ompl_interface::ModelBasedStateSpace::getJointsBounds ( ) const

inline

Definition at line 231 of file model_based_state_space.h.

◆ getMaximumExtent()

double ompl_interface::ModelBasedStateSpace::getMaximumExtent ( ) const

override

Definition at line 158 of file model_based_state_space.cpp.

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◆ getMeasure()

double ompl_interface::ModelBasedStateSpace::getMeasure ( ) const

override

Definition at line 163 of file model_based_state_space.cpp.

◆ getParameterizationType()

virtual const std::string & ompl_interface::ModelBasedStateSpace::getParameterizationType ( ) const

pure virtual

Implemented in ompl_interface::ConstrainedPlanningStateSpace, ompl_interface::JointModelStateSpace, and ompl_interface::PoseModelStateSpace.

◆ getRobotModel()

const moveit::core::RobotModelConstPtr & ompl_interface::ModelBasedStateSpace::getRobotModel ( ) const

inline

Definition at line 205 of file model_based_state_space.h.

◆ getSerializationLength()

unsigned int ompl_interface::ModelBasedStateSpace::getSerializationLength ( ) const

override

Definition at line 133 of file model_based_state_space.cpp.

◆ getSpecification()

const ModelBasedStateSpaceSpecification & ompl_interface::ModelBasedStateSpace::getSpecification ( ) const

inline

Definition at line 220 of file model_based_state_space.h.

◆ getTagSnapToSegment()

double ompl_interface::ModelBasedStateSpace::getTagSnapToSegment ( ) const

Definition at line 91 of file model_based_state_space.cpp.

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◆ getValueAddressAtIndex()

double * ompl_interface::ModelBasedStateSpace::getValueAddressAtIndex	(	ompl::base::State *	state,
		const unsigned int	index
	)		const

override

Definition at line 238 of file model_based_state_space.cpp.

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◆ interpolate()

void ompl_interface::ModelBasedStateSpace::interpolate	(	const ompl::base::State *	from,
		const ompl::base::State *	to,
		const double	t,
		ompl::base::State *	state
	)		const

override

Definition at line 210 of file model_based_state_space.cpp.

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◆ printSettings()

void ompl_interface::ModelBasedStateSpace::printSettings ( std::ostream & out ) const

override

Definition at line 308 of file model_based_state_space.cpp.

◆ printState()

void ompl_interface::ModelBasedStateSpace::printState	(	const ompl::base::State *	state,
		std::ostream &	out
	)		const

override

Definition at line 313 of file model_based_state_space.cpp.

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◆ satisfiesBounds()

bool ompl_interface::ModelBasedStateSpace::satisfiesBounds ( const ompl::base::State * state ) const

override

Definition at line 204 of file model_based_state_space.cpp.

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◆ serialize()

void ompl_interface::ModelBasedStateSpace::serialize	(	void *	serialization,
		const ompl::base::State *	state
	)		const

override

Definition at line 138 of file model_based_state_space.cpp.

◆ setDistanceFunction()

void ompl_interface::ModelBasedStateSpace::setDistanceFunction ( const DistanceFunction & fun )

inline

Definition at line 177 of file model_based_state_space.h.

◆ setInterpolationFunction()

void ompl_interface::ModelBasedStateSpace::setInterpolationFunction ( const InterpolationFunction & fun )

inline

Definition at line 172 of file model_based_state_space.h.

◆ setPlanningVolume()

void ompl_interface::ModelBasedStateSpace::setPlanningVolume	(	double	minX,
		double	maxX,
		double	minY,
		double	maxY,
		double	minZ,
		double	maxZ
	)

virtual

Set the planning volume for the possible SE2 and/or SE3 components of the state space.

Reimplemented in ompl_interface::PoseModelStateSpace.

Definition at line 245 of file model_based_state_space.cpp.

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◆ setTagSnapToSegment()

void ompl_interface::ModelBasedStateSpace::setTagSnapToSegment ( double snap )

Definition at line 96 of file model_based_state_space.cpp.

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Member Data Documentation

◆ distance_function_

DistanceFunction ompl_interface::ModelBasedStateSpace::distance_function_

protected

Definition at line 268 of file model_based_state_space.h.

◆ interpolation_function_

InterpolationFunction ompl_interface::ModelBasedStateSpace::interpolation_function_

protected

Definition at line 267 of file model_based_state_space.h.

◆ joint_bounds_storage_

std::vector<moveit::core::JointModel::Bounds> ompl_interface::ModelBasedStateSpace::joint_bounds_storage_

protected

Definition at line 262 of file model_based_state_space.h.

◆ joint_model_vector_

std::vector<const moveit::core::JointModel*> ompl_interface::ModelBasedStateSpace::joint_model_vector_

protected

Definition at line 263 of file model_based_state_space.h.

◆ spec_

ModelBasedStateSpaceSpecification ompl_interface::ModelBasedStateSpace::spec_

protected

Definition at line 261 of file model_based_state_space.h.

◆ state_values_size_

size_t ompl_interface::ModelBasedStateSpace::state_values_size_

protected

Definition at line 265 of file model_based_state_space.h.

◆ tag_snap_to_segment_

double ompl_interface::ModelBasedStateSpace::tag_snap_to_segment_

protected

Definition at line 270 of file model_based_state_space.h.

◆ tag_snap_to_segment_complement_

double ompl_interface::ModelBasedStateSpace::tag_snap_to_segment_complement_

protected

Definition at line 271 of file model_based_state_space.h.

◆ variable_count_

unsigned int ompl_interface::ModelBasedStateSpace::variable_count_

protected

Definition at line 264 of file model_based_state_space.h.

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

moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h
moveit_planners/ompl/ompl_interface/src/parameterization/model_based_state_space.cpp

Classes

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ModelBasedStateSpace()

◆ ~ModelBasedStateSpace()

Member Function Documentation

◆ allocDefaultStateSampler()

◆ allocState()

◆ copyJointToOMPLState()

◆ copyState()

◆ copyToOMPLState()

◆ copyToRobotState()

◆ deserialize()

◆ distance()

◆ enforceBounds()

◆ equalStates()

◆ freeState()

◆ getDimension()

◆ getJointModelGroup()

◆ getJointModelGroupName()

◆ getJointsBounds()

◆ getMaximumExtent()

◆ getMeasure()

◆ getParameterizationType()

◆ getRobotModel()

◆ getSerializationLength()

◆ getSpecification()

◆ getTagSnapToSegment()

◆ getValueAddressAtIndex()

◆ interpolate()

◆ printSettings()

◆ printState()

◆ satisfiesBounds()

◆ serialize()

◆ setDistanceFunction()

◆ setInterpolationFunction()

◆ setPlanningVolume()

◆ setTagSnapToSegment()

Member Data Documentation

◆ distance_function_

◆ interpolation_function_

◆ joint_bounds_storage_

◆ joint_model_vector_

◆ spec_

◆ state_values_size_

◆ tag_snap_to_segment_

◆ tag_snap_to_segment_complement_

◆ variable_count_