cost_functions.hpp File Reference

MoveIt-based cost functions that can be passed to STOMP via a ComposableTask. More...

#include <Eigen/Geometry>
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/kinematic_constraints/kinematic_constraint.h>
#include <stomp_moveit/stomp_moveit_task.hpp>
#include <stomp_moveit/conversion_functions.hpp>

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Namespaces
namespace	stomp_moveit
namespace	stomp_moveit::costs

Typedefs
using	stomp_moveit::StateValidatorFn = std::function< double(const Eigen::VectorXd &state_positions)>

Functions
CostFn	stomp_moveit::costs::getCostFunctionFromStateValidator (const StateValidatorFn &state_validator_fn, double interpolation_step_size)
CostFn	stomp_moveit::costs::getCollisionCostFunction (const std::shared_ptr< const planning_scene::PlanningScene > &planning_scene, const moveit::core::JointModelGroup *group, double collision_penalty)
CostFn	stomp_moveit::costs::getConstraintsCostFunction (const std::shared_ptr< const planning_scene::PlanningScene > &planning_scene, const moveit::core::JointModelGroup *group, const moveit_msgs::msg::Constraints &constraints_msg, double cost_scale)
CostFn	stomp_moveit::costs::sum (const std::vector< CostFn > &cost_functions)

Variables
constexpr double	stomp_moveit::costs::COL_CHECK_DISTANCE = 0.05
constexpr double	stomp_moveit::costs::CONSTRAINT_CHECK_DISTANCE = 0.05

Detailed Description

MoveIt-based cost functions that can be passed to STOMP via a ComposableTask.

Author

Henning Kayser

Definition in file cost_functions.hpp.