#include <plannerparameters.h>
Public Member Functions | |
GraspParameters (EnvironmentBasePtr penv) | |
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PlannerParameters () | |
virtual | ~PlannerParameters () |
virtual PlannerParameters & | operator= (const PlannerParameters &r) |
Attemps to copy data from one set of parameters to another in the safest manner. | |
virtual void | copy (boost::shared_ptr< PlannerParameters const > r) |
virtual void | SetRobotActiveJoints (RobotBasePtr robot) |
sets up the planner parameters to use the active joints of the robot | |
virtual void | SetConfigurationSpecification (EnvironmentBasePtr env, const ConfigurationSpecification &spec) |
sets up the planner parameters to use the configuration specification space | |
virtual void | Validate () const |
veriries that the configuration space and all parameters are consistent | |
virtual int | GetDOF () const |
Return the degrees of freedom of the planning configuration space. | |
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BaseXMLReader () | |
virtual | ~BaseXMLReader () |
virtual XMLReadablePtr | GetReadable () |
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XMLReadable (const std::string &xmlid) | |
virtual | ~XMLReadable () |
virtual const std::string & | GetXMLId () const |
virtual void | Serialize (BaseXMLWriterPtr writer, int options=0) const |
serializes the interface | |
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virtual | ~UserData () |
Public Attributes | |
dReal | fstandoff |
start closing fingers when at this distance | |
KinBodyPtr | targetbody |
the target that will be grasped, all parameters will be in this coordinate system. if not present, then below transformations are in absolute coordinate system. | |
dReal | ftargetroll |
rotate the hand about the palm normal (if one exists) by this many radians | |
Vector | vtargetdirection |
direction in target space to approach object from | |
Vector | vtargetposition |
position in target space to start approaching (if in collision with target, gets backed up) | |
Vector | vmanipulatordirection |
a direction for the gripper to face at when approaching (in the manipulator coordinate system) | |
bool | btransformrobot |
if true sets the base link of the robot given the above transformation parameters. If there is an active manipulator | |
bool | breturntrajectory |
if true, returns how the individual fingers moved instead of just the final grasp | |
bool | bonlycontacttarget |
if true, then grasp is successful only if contact is made with the target | |
bool | btightgrasp |
This is tricky, but basically if true will also move the basic link along the negative axes of some of the joints to get a tighter fit. | |
bool | bavoidcontact |
if true, will return a final robot configuration right before contact is made. | |
std::vector< std::string > | vavoidlinkgeometry |
list of links on the robot to avoid collisions with (for exmaple, sensors) | |
dReal | fcoarsestep |
step for coarse planning (in radians) | |
dReal | ffinestep |
step for fine planning (in radians), THIS STEP MUST BE VERY SMALL OR THE COLLISION CHECKER GIVES WILDLY BOGUS RESULTS | |
dReal | ftranslationstepmult |
multiplication factor for translational movements of the hand or joints | |
dReal | fgraspingnoise |
random undeterministic noise to add to the target object, represents the max possible displacement of any point on the object (noise added after global direction and start have been determined) | |
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ConfigurationSpecification | _configurationspecification |
the configuration specification in which the planner works in. This specification is passed to the trajecotry creation modules. | |
CostFn | _costfn |
GoalFn | _goalfn |
DistMetricFn | _distmetricfn |
CheckPathConstraintFn | _checkpathconstraintsfn |
SampleFn | _samplefn |
SampleGoalFn | _samplegoalfn |
SampleInitialFn | _sampleinitialfn |
SampleNeighFn | _sampleneighfn |
SetStateFn | _setstatefn |
GetStateFn | _getstatefn |
DiffStateFn | _diffstatefn |
NeighStateFn | _neighstatefn |
std::vector< dReal > | vinitialconfig |
std::vector< dReal > | vgoalconfig |
std::vector< dReal > | _vConfigLowerLimit |
the absolute limits of the configuration space. | |
std::vector< dReal > | _vConfigUpperLimit |
std::vector< dReal > | _vConfigVelocityLimit |
the absolute velocity limits of each DOF of the configuration space. | |
std::vector< dReal > | _vConfigAccelerationLimit |
the absolute acceleration limits of each DOF of the configuration space. | |
std::vector< dReal > | _vConfigResolution |
the discretization resolution of each dimension of the configuration space | |
dReal | _fStepLength |
a discretization between the path that connects two configurations | |
int | _nMaxIterations |
maximum number of iterations before the planner gives up. If 0 or less, planner chooses best iterations. | |
std::string | _sPostProcessingPlanner |
Specifies the planner that will perform the post-processing path smoothing before returning. | |
std::string | _sPostProcessingParameters |
The serialized planner parameters to pass to the path optimizer. | |
std::string | _sExtraParameters |
Extra parameters data that does not fit within this planner parameters structure, but is still important not to lose all the information. | |
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std::string | _filename |
XML filename/resource used for this class (can be empty) | |
Protected Member Functions | |
virtual bool | serialize (std::ostream &O, int options=0) const |
output the planner parameters in a string (in XML format) | |
ProcessElement | startElement (const std::string &name, const AttributesList &atts) |
virtual bool | endElement (const std::string &name) |
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boost::shared_ptr < PlannerBase::PlannerParameters > | shared_parameters () |
boost::shared_ptr < PlannerBase::PlannerParameters const > | shared_parameters_const () const |
virtual void | characters (const std::string &ch) |
Protected Attributes | |
EnvironmentBasePtr | _penv |
environment target belongs to | |
bool | _bProcessingGrasp |
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std::stringstream | _ss |
holds the data read by characters | |
boost::shared_ptr < std::stringstream > | _sslocal |
std::vector< std::string > | _vXMLParameters |
all the top-level XML parameter tags (lower case) that are handled by this parameter structure, should be registered in the constructor | |
Additional Inherited Members | |
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typedef boost::shared_ptr < StateSaver > | StateSaverPtr |
typedef boost::function< dReal(const std::vector< dReal > &)> | CostFn |
Cost function on the state pace (optional). | |
typedef boost::function< dReal(const std::vector< dReal > &)> | GoalFn |
Goal heuristic function.(optional) | |
typedef boost::function< dReal(const std::vector< dReal > &, const std::vector< dReal > &)> | DistMetricFn |
Distance metric between configuration spaces (optional) | |
typedef boost::function< bool(const std::vector< dReal > &, const std::vector< dReal > &, IntervalType, PlannerBase::ConfigurationListPtr)> | CheckPathConstraintFn |
Checks that all the constraints are satisfied between two configurations. | |
typedef boost::function< bool(std::vector < dReal > &)> | SampleFn |
Samples a random configuration (mandatory) | |
typedef boost::function< bool(std::vector < dReal > &)> | SampleGoalFn |
Samples a valid goal configuration (optional). | |
typedef boost::function< bool(std::vector < dReal > &)> | SampleInitialFn |
Samples a valid initial configuration (optional). | |
typedef boost::function< bool(std::vector < dReal > &, const std::vector < dReal > &, dReal)> | SampleNeighFn |
Returns a random configuration around a neighborhood (optional). | |
typedef boost::function< void(const std::vector< dReal > &)> | SetStateFn |
Sets the state of the robot. Default is active robot joints (mandatory). | |
typedef boost::function< void(std::vector < dReal > &)> | GetStateFn |
Gets the state of the robot. Default is active robot joints (mandatory). | |
typedef boost::function< void(std::vector < dReal > &, const std::vector < dReal > &)> | DiffStateFn |
Computes the difference of two states. | |
typedef boost::function< bool(std::vector < dReal > &, const std::vector < dReal > &, int)> | NeighStateFn |
Adds a delta state to a curent state, acting like a next-nearest-neighbor function along a given direction. | |
Definition at line 261 of file plannerparameters.h.
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inline |
Definition at line 264 of file plannerparameters.h.
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inlineprotectedvirtual |
Gets called at the end of each "</type>" expression. In this case, name is "type"
name | of the tag, will be always lower case |
Reimplemented from OpenRAVE::PlannerBase::PlannerParameters.
Definition at line 358 of file plannerparameters.h.
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inlineprotectedvirtual |
output the planner parameters in a string (in XML format)
options | if 1 will skip writing the extra parameters don't use PlannerParameters as a tag! |
Reimplemented from OpenRAVE::PlannerBase::PlannerParameters.
Definition at line 306 of file plannerparameters.h.
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inlineprotectedvirtual |
Gets called in the beginning of each "<type>" expression. In this case, name is "type"
name | of the tag, will be always lower case |
atts | string of attributes where the first std::string is the attribute name and second is the value |
Reimplemented from OpenRAVE::PlannerBase::PlannerParameters.
Definition at line 337 of file plannerparameters.h.
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protected |
Definition at line 304 of file plannerparameters.h.
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protected |
environment target belongs to
Definition at line 303 of file plannerparameters.h.
bool OpenRAVE::GraspParameters::bavoidcontact |
if true, will return a final robot configuration right before contact is made.
Definition at line 294 of file plannerparameters.h.
bool OpenRAVE::GraspParameters::bonlycontacttarget |
if true, then grasp is successful only if contact is made with the target
Definition at line 292 of file plannerparameters.h.
bool OpenRAVE::GraspParameters::breturntrajectory |
if true, returns how the individual fingers moved instead of just the final grasp
Definition at line 291 of file plannerparameters.h.
bool OpenRAVE::GraspParameters::btightgrasp |
This is tricky, but basically if true will also move the basic link along the negative axes of some of the joints to get a tighter fit.
Definition at line 293 of file plannerparameters.h.
bool OpenRAVE::GraspParameters::btransformrobot |
if true sets the base link of the robot given the above transformation parameters. If there is an active manipulator
Definition at line 290 of file plannerparameters.h.
dReal OpenRAVE::GraspParameters::fcoarsestep |
step for coarse planning (in radians)
Definition at line 297 of file plannerparameters.h.
dReal OpenRAVE::GraspParameters::ffinestep |
step for fine planning (in radians), THIS STEP MUST BE VERY SMALL OR THE COLLISION CHECKER GIVES WILDLY BOGUS RESULTS
Definition at line 298 of file plannerparameters.h.
dReal OpenRAVE::GraspParameters::fgraspingnoise |
random undeterministic noise to add to the target object, represents the max possible displacement of any point on the object (noise added after global direction and start have been determined)
Definition at line 301 of file plannerparameters.h.
dReal OpenRAVE::GraspParameters::fstandoff |
start closing fingers when at this distance
Definition at line 284 of file plannerparameters.h.
dReal OpenRAVE::GraspParameters::ftargetroll |
rotate the hand about the palm normal (if one exists) by this many radians
Definition at line 286 of file plannerparameters.h.
dReal OpenRAVE::GraspParameters::ftranslationstepmult |
multiplication factor for translational movements of the hand or joints
Definition at line 299 of file plannerparameters.h.
KinBodyPtr OpenRAVE::GraspParameters::targetbody |
the target that will be grasped, all parameters will be in this coordinate system. if not present, then below transformations are in absolute coordinate system.
Definition at line 285 of file plannerparameters.h.
std::vector<std::string> OpenRAVE::GraspParameters::vavoidlinkgeometry |
list of links on the robot to avoid collisions with (for exmaple, sensors)
Definition at line 295 of file plannerparameters.h.
Vector OpenRAVE::GraspParameters::vmanipulatordirection |
a direction for the gripper to face at when approaching (in the manipulator coordinate system)
Definition at line 289 of file plannerparameters.h.
Vector OpenRAVE::GraspParameters::vtargetdirection |
direction in target space to approach object from
Definition at line 287 of file plannerparameters.h.
Vector OpenRAVE::GraspParameters::vtargetposition |
position in target space to start approaching (if in collision with target, gets backed up)
Definition at line 288 of file plannerparameters.h.