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OpenRAVE::planningutils::ManipulatorIKGoalSampler Class Reference

Samples numsamples of solutions and each solution to vsolutions. More...

#include <planningutils.h>

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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
 

Detailed Description

Samples numsamples of solutions and each solution to vsolutions.

Parameters
nummaxsamplesthe max samples to query from a particular workspace goal. This does not necessarily mean every goal will have this many samples.
nummaxtriesnumber of attemps to return a goal per Sample call.
fsampleprobThe probability to attempt to sample a goal
searchfreeparametersif 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.

Constructor & Destructor Documentation

OpenRAVE::planningutils::ManipulatorIKGoalSampler::ManipulatorIKGoalSampler ( RobotBase::ManipulatorConstPtr  pmanip,
const std::list< IkParameterization > &  listparameterizations,
int  nummaxsamples = 20,
int  nummaxtries = 10,
dReal  fsampleprob = 1,
bool  searchfreeparameters = true 
)

Definition at line 1767 of file planningutils.cpp.

virtual OpenRAVE::planningutils::ManipulatorIKGoalSampler::~ManipulatorIKGoalSampler ( )
inlinevirtual

Definition at line 384 of file planningutils.h.

Member Function Documentation

int OpenRAVE::planningutils::ManipulatorIKGoalSampler::GetIkParameterizationIndex ( int  index)
virtual

Definition at line 1973 of file planningutils.cpp.

IkReturnPtr OpenRAVE::planningutils::ManipulatorIKGoalSampler::Sample ( )
virtual

if can sample, returns IkReturn pointer

Definition at line 1800 of file planningutils.cpp.

bool OpenRAVE::planningutils::ManipulatorIKGoalSampler::Sample ( std::vector< dReal > &  vgoal)
virtual

Definition at line 1789 of file planningutils.cpp.

bool OpenRAVE::planningutils::ManipulatorIKGoalSampler::SampleAll ( std::list< IkReturnPtr > &  samples,
int  maxsamples = 0,
int  maxchecksamples = 0 
)

samples the rests of the samples until cannot be sampled anymore.

Parameters
vsamplesvector is rest with samples
maxsamplesmax successful samples to gather before returning. If 0, will gather all.
maxchecksamplesmax samples to check before returning. If 0, will check all.
Returns
true if a sample was inserted into vsamples

Definition at line 1950 of file planningutils.cpp.

void OpenRAVE::planningutils::ManipulatorIKGoalSampler::SetJitter ( dReal  maxdist)
virtual

set a jitter distance for the goal

Parameters
maxdistIf > 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.

void OpenRAVE::planningutils::ManipulatorIKGoalSampler::SetSamplingProb ( dReal  fsampleprob)
virtual

Definition at line 1981 of file planningutils.cpp.

Member Data Documentation

dReal OpenRAVE::planningutils::ManipulatorIKGoalSampler::_fjittermaxdist
protected

Definition at line 423 of file planningutils.h.

dReal OpenRAVE::planningutils::ManipulatorIKGoalSampler::_fsampleprob
protected

Definition at line 423 of file planningutils.h.

std::list<int> OpenRAVE::planningutils::ManipulatorIKGoalSampler::_listreturnedsamples
protected

Definition at line 426 of file planningutils.h.

std::list<SampleInfo> OpenRAVE::planningutils::ManipulatorIKGoalSampler::_listsamples
protected

Definition at line 421 of file planningutils.h.

int OpenRAVE::planningutils::ManipulatorIKGoalSampler::_nummaxsamples
protected

Definition at line 420 of file planningutils.h.

int OpenRAVE::planningutils::ManipulatorIKGoalSampler::_nummaxtries
protected

Definition at line 420 of file planningutils.h.

SpaceSamplerBasePtr OpenRAVE::planningutils::ManipulatorIKGoalSampler::_pindexsampler
protected

Definition at line 422 of file planningutils.h.

RobotBase::ManipulatorConstPtr OpenRAVE::planningutils::ManipulatorIKGoalSampler::_pmanip
protected

Definition at line 419 of file planningutils.h.

RobotBasePtr OpenRAVE::planningutils::ManipulatorIKGoalSampler::_probot
protected

Definition at line 418 of file planningutils.h.

CollisionReportPtr OpenRAVE::planningutils::ManipulatorIKGoalSampler::_report
protected

Definition at line 424 of file planningutils.h.

bool OpenRAVE::planningutils::ManipulatorIKGoalSampler::_searchfreeparameters
protected

Definition at line 429 of file planningutils.h.

int OpenRAVE::planningutils::ManipulatorIKGoalSampler::_tempikindex
protected

if _vikreturns.size() > 0, points to the original ik index of those solutions

Definition at line 428 of file planningutils.h.

std::vector<dReal> OpenRAVE::planningutils::ManipulatorIKGoalSampler::_vfreestart
protected

Definition at line 427 of file planningutils.h.

std::vector< IkReturnPtr > OpenRAVE::planningutils::ManipulatorIKGoalSampler::_vikreturns
protected

Definition at line 425 of file planningutils.h.


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