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cppexamples::DoorConfiguration Class Reference

builds up the configuration space of a robot and a door More...

Inheritance diagram for cppexamples::DoorConfiguration:
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Collaboration diagram for cppexamples::DoorConfiguration:
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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
 

Detailed Description

builds up the configuration space of a robot and a door

Definition at line 28 of file orplanning_door.cpp.

Constructor & Destructor Documentation

cppexamples::DoorConfiguration::DoorConfiguration ( RobotBase::ManipulatorPtr  pmanip,
KinBody::JointPtr  pdoorjoint 
)
inline

Definition at line 39 of file orplanning_door.cpp.

virtual cppexamples::DoorConfiguration::~DoorConfiguration ( )
inlinevirtual

Definition at line 47 of file orplanning_door.cpp.

Member Function Documentation

IkReturn cppexamples::DoorConfiguration::_CheckContinuityFilter ( std::vector< dReal > &  vsolution,
RobotBase::ManipulatorConstPtr  pmanip,
const IkParameterization ikp 
)
inline

Definition at line 145 of file orplanning_door.cpp.

bool cppexamples::DoorConfiguration::_SetState ( std::vector< dReal > &  v,
int  filteroptions = IKFO_CheckEnvCollisions|IKFO_IgnoreCustomFilters 
)
inline

Definition at line 78 of file orplanning_door.cpp.

dReal cppexamples::DoorConfiguration::ComputeDistance ( const std::vector< dReal > &  c0,
const std::vector< dReal > &  c1 
)
inline

Definition at line 54 of file orplanning_door.cpp.

void cppexamples::DoorConfiguration::DiffState ( std::vector< dReal > &  v1,
const std::vector< dReal > &  v2 
)
inline

Definition at line 114 of file orplanning_door.cpp.

int cppexamples::DoorConfiguration::GetDOF ( )
inline

Definition at line 50 of file orplanning_door.cpp.

void cppexamples::DoorConfiguration::GetState ( std::vector< dReal > &  v)
inline

Definition at line 107 of file orplanning_door.cpp.

bool cppexamples::DoorConfiguration::NeightState ( std::vector< dReal > &  v,
const std::vector< dReal > &  vdelta,
int  fromgoal 
)
inline

Definition at line 120 of file orplanning_door.cpp.

bool cppexamples::DoorConfiguration::Sample ( std::vector< dReal > &  v)
inline

Definition at line 63 of file orplanning_door.cpp.

void cppexamples::DoorConfiguration::SetPlannerParameters ( PlannerBase::PlannerParametersPtr  params)
inline

Definition at line 167 of file orplanning_door.cpp.

void cppexamples::DoorConfiguration::SetState ( const std::vector< dReal > &  v)
inline

Definition at line 99 of file orplanning_door.cpp.

Member Data Documentation

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.


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