Samples numsamples of solutions and each solution to vsolutions. More...
#include <planningutils.h>
Classes | |
struct | SampleInfo |
Public Member Functions | |
ManipulatorIKGoalSampler (RobotBase::ManipulatorConstPtr pmanip, const std::list< IkParameterization > &listparameterizations, int nummaxsamples=20, int nummaxtries=10, dReal fsampleprob=1, bool searchfreeparameters=true) | |
virtual | ~ManipulatorIKGoalSampler () |
virtual IkReturnPtr | Sample () |
if can sample, returns IkReturn pointer | |
virtual bool | Sample (std::vector< dReal > &vgoal) |
bool | SampleAll (std::list< IkReturnPtr > &samples, int maxsamples=0, int maxchecksamples=0) |
samples the rests of the samples until cannot be sampled anymore. | |
virtual int | GetIkParameterizationIndex (int index) |
virtual void | SetSamplingProb (dReal fsampleprob) |
virtual void | SetJitter (dReal maxdist) |
set a jitter distance for the goal | |
Protected Attributes | |
RobotBasePtr | _probot |
RobotBase::ManipulatorConstPtr | _pmanip |
int | _nummaxsamples |
int | _nummaxtries |
std::list< SampleInfo > | _listsamples |
SpaceSamplerBasePtr | _pindexsampler |
dReal | _fsampleprob |
dReal | _fjittermaxdist |
CollisionReportPtr | _report |
std::vector< IkReturnPtr > | _vikreturns |
std::list< int > | _listreturnedsamples |
std::vector< dReal > | _vfreestart |
int | _tempikindex |
if _vikreturns.size() > 0, points to the original ik index of those solutions | |
bool | _searchfreeparameters |
Samples numsamples of solutions and each solution to vsolutions.
nummaxsamples | the max samples to query from a particular workspace goal. This does not necessarily mean every goal will have this many samples. |
nummaxtries | number of attemps to return a goal per Sample call. |
fsampleprob | The probability to attempt to sample a goal |
searchfreeparameters | if true, will search all the free parameters of the manipulator. Otherwise will use the current free parameters set on the robot |
Definition at line 380 of file planningutils.h.
OpenRAVE::planningutils::ManipulatorIKGoalSampler::ManipulatorIKGoalSampler | ( | RobotBase::ManipulatorConstPtr | pmanip, |
const std::list< IkParameterization > & | listparameterizations, | ||
int | nummaxsamples = 20 , |
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int | nummaxtries = 10 , |
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dReal | fsampleprob = 1 , |
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bool | searchfreeparameters = true |
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) |
Definition at line 1767 of file planningutils.cpp.
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Definition at line 384 of file planningutils.h.
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Definition at line 1973 of file planningutils.cpp.
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if can sample, returns IkReturn pointer
Definition at line 1800 of file planningutils.cpp.
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Definition at line 1789 of file planningutils.cpp.
bool OpenRAVE::planningutils::ManipulatorIKGoalSampler::SampleAll | ( | std::list< IkReturnPtr > & | samples, |
int | maxsamples = 0 , |
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int | maxchecksamples = 0 |
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samples the rests of the samples until cannot be sampled anymore.
vsamples | vector is rest with samples |
maxsamples | max successful samples to gather before returning. If 0, will gather all. |
maxchecksamples | max samples to check before returning. If 0, will check all. |
Definition at line 1950 of file planningutils.cpp.
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set a jitter distance for the goal
maxdist | If > 0, allows jittering of the goal IK if they cause the robot to be in collision and no IK solutions to be found |
Definition at line 1986 of file planningutils.cpp.
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Definition at line 1981 of file planningutils.cpp.
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Definition at line 423 of file planningutils.h.
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Definition at line 423 of file planningutils.h.
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Definition at line 426 of file planningutils.h.
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Definition at line 421 of file planningutils.h.
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Definition at line 420 of file planningutils.h.
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Definition at line 420 of file planningutils.h.
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Definition at line 422 of file planningutils.h.
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Definition at line 419 of file planningutils.h.
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Definition at line 418 of file planningutils.h.
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Definition at line 424 of file planningutils.h.
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Definition at line 429 of file planningutils.h.
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if _vikreturns.size() > 0, points to the original ik index of those solutions
Definition at line 428 of file planningutils.h.
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Definition at line 427 of file planningutils.h.
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Definition at line 425 of file planningutils.h.