builds up the configuration space of a robot and a door More...
Public Member Functions | |
DoorConfiguration (RobotBase::ManipulatorPtr pmanip, KinBody::JointPtr pdoorjoint) | |
virtual | ~DoorConfiguration () |
int | GetDOF () |
dReal | ComputeDistance (const std::vector< dReal > &c0, const std::vector< dReal > &c1) |
bool | Sample (std::vector< dReal > &v) |
bool | _SetState (std::vector< dReal > &v, int filteroptions=IKFO_CheckEnvCollisions|IKFO_IgnoreCustomFilters) |
void | SetState (const std::vector< dReal > &v) |
void | GetState (std::vector< dReal > &v) |
void | DiffState (std::vector< dReal > &v1, const std::vector< dReal > &v2) |
bool | NeightState (std::vector< dReal > &v, const std::vector< dReal > &vdelta, int fromgoal) |
IkReturn | _CheckContinuityFilter (std::vector< dReal > &vsolution, RobotBase::ManipulatorConstPtr pmanip, const IkParameterization &ikp) |
void | SetPlannerParameters (PlannerBase::PlannerParametersPtr params) |
Public Attributes | |
RobotBase::ManipulatorPtr | _pmanip |
KinBody::LinkPtr | _pdoorlink |
KinBody::JointPtr | _pdoorjoint |
Transform | _tgrasp |
the grasp transform in the door link frame | |
RobotBasePtr | _probot |
RobotBasePtr | _ptarget |
vector< dReal > | _vprevsolution |
Transform | _tmanipprev |
Transform | _tmanipmidreal |
UserDataPtr | _ikfilter |
boost::shared_ptr < planningutils::SimpleDistanceMetric > | _robotdistmetric |
boost::shared_ptr < planningutils::SimpleDistanceMetric > | _doordistmetric |
boost::shared_ptr < planningutils::SimpleNeighborhoodSampler > | _robotsamplefn |
boost::shared_ptr < planningutils::SimpleNeighborhoodSampler > | _doorsamplefn |
boost::shared_ptr < planningutils::LineCollisionConstraint > | _collision |
builds up the configuration space of a robot and a door
Definition at line 28 of file orplanning_door.cpp.
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Definition at line 39 of file orplanning_door.cpp.
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Definition at line 47 of file orplanning_door.cpp.
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Definition at line 145 of file orplanning_door.cpp.
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Definition at line 78 of file orplanning_door.cpp.
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Definition at line 54 of file orplanning_door.cpp.
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Definition at line 114 of file orplanning_door.cpp.
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Definition at line 50 of file orplanning_door.cpp.
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Definition at line 107 of file orplanning_door.cpp.
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Definition at line 120 of file orplanning_door.cpp.
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Definition at line 63 of file orplanning_door.cpp.
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Definition at line 167 of file orplanning_door.cpp.
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Definition at line 99 of file orplanning_door.cpp.
boost::shared_ptr<planningutils::LineCollisionConstraint> cppexamples::DoorConfiguration::_collision |
Definition at line 221 of file orplanning_door.cpp.
boost::shared_ptr<planningutils::SimpleDistanceMetric> cppexamples::DoorConfiguration::_doordistmetric |
Definition at line 219 of file orplanning_door.cpp.
boost::shared_ptr<planningutils::SimpleNeighborhoodSampler> cppexamples::DoorConfiguration::_doorsamplefn |
Definition at line 220 of file orplanning_door.cpp.
UserDataPtr cppexamples::DoorConfiguration::_ikfilter |
Definition at line 217 of file orplanning_door.cpp.
KinBody::JointPtr cppexamples::DoorConfiguration::_pdoorjoint |
Definition at line 212 of file orplanning_door.cpp.
KinBody::LinkPtr cppexamples::DoorConfiguration::_pdoorlink |
Definition at line 211 of file orplanning_door.cpp.
RobotBase::ManipulatorPtr cppexamples::DoorConfiguration::_pmanip |
Definition at line 210 of file orplanning_door.cpp.
RobotBasePtr cppexamples::DoorConfiguration::_probot |
Definition at line 214 of file orplanning_door.cpp.
RobotBasePtr cppexamples::DoorConfiguration::_ptarget |
Definition at line 214 of file orplanning_door.cpp.
boost::shared_ptr<planningutils::SimpleDistanceMetric> cppexamples::DoorConfiguration::_robotdistmetric |
Definition at line 219 of file orplanning_door.cpp.
boost::shared_ptr<planningutils::SimpleNeighborhoodSampler> cppexamples::DoorConfiguration::_robotsamplefn |
Definition at line 220 of file orplanning_door.cpp.
Transform cppexamples::DoorConfiguration::_tgrasp |
the grasp transform in the door link frame
Definition at line 213 of file orplanning_door.cpp.
Transform cppexamples::DoorConfiguration::_tmanipmidreal |
Definition at line 216 of file orplanning_door.cpp.
Transform cppexamples::DoorConfiguration::_tmanipprev |
Definition at line 216 of file orplanning_door.cpp.
vector<dReal> cppexamples::DoorConfiguration::_vprevsolution |
Definition at line 215 of file orplanning_door.cpp.