stomp_moveit Namespace Reference

Namespaces
	costs
	filters
	math
	noise
	visualization

Classes
class	StompPlanningContext
class	ComposableTask
class	StompPlannerManager

Typedefs
using	Joints = std::vector< const moveit::core::JointModel * >
using	StateValidatorFn = std::function< double(const Eigen::VectorXd &state_positions)>
using	NoiseGeneratorFn = std::function< bool(const Eigen::MatrixXd &values, Eigen::MatrixXd &noisy_values, Eigen::MatrixXd &noise)>
using	CostFn = std::function< bool(const Eigen::MatrixXd &values, Eigen::VectorXd &costs, bool &validity)>
using	FilterFn = std::function< bool(const Eigen::MatrixXd &values, Eigen::MatrixXd &filtered_values)>
using	PostIterationFn = std::function< void(int iteration_number, double cost, const Eigen::MatrixXd &values)>
using	DoneFn = std::function< void(bool success, int total_iterations, double final_cost, const Eigen::MatrixXd &values)>

Functions
std::vector< double >	getPositions (const moveit::core::RobotState &state, const Joints &joints)
void	setJointPositions (const Eigen::VectorXd &values, const Joints &joints, moveit::core::RobotState &state)
void	fillRobotTrajectory (const Eigen::MatrixXd &trajectory_values, const moveit::core::RobotState &reference_state, robot_trajectory::RobotTrajectory &trajectory)
robot_trajectory::RobotTrajectory	matrixToRobotTrajectory (const Eigen::MatrixXd &trajectory_values, const moveit::core::RobotState &reference_state, const moveit::core::JointModelGroup *group=nullptr)
Eigen::MatrixXd	robotTrajectoryToMatrix (const robot_trajectory::RobotTrajectory &trajectory)
bool	solveWithStomp (const std::shared_ptr< stomp::Stomp > &stomp, const moveit::core::RobotState &start_state, const moveit::core::RobotState &goal_state, const moveit::core::JointModelGroup *group, const robot_trajectory::RobotTrajectoryPtr &input_trajectory, robot_trajectory::RobotTrajectoryPtr &output_trajectory)
bool	extractSeedTrajectory (const planning_interface::MotionPlanRequest &req, const moveit::core::RobotModelConstPtr &robot_model, robot_trajectory::RobotTrajectoryPtr &seed)
stomp::TaskPtr	createStompTask (const stomp::StompConfiguration &config, StompPlanningContext &context)
stomp::StompConfiguration	getStompConfig (const stomp_moveit::Params &params, size_t num_dimensions)

Typedef Documentation

CostFn

using stomp_moveit::CostFn = typedef std::function<bool(const Eigen::MatrixXd& values, Eigen::VectorXd& costs, bool& validity)>

Definition at line 65 of file stomp_moveit_task.hpp.

DoneFn

using stomp_moveit::DoneFn = typedef std::function<void(bool success, int total_iterations, double final_cost, const Eigen::MatrixXd& values)>

Definition at line 71 of file stomp_moveit_task.hpp.

FilterFn

using stomp_moveit::FilterFn = typedef std::function<bool(const Eigen::MatrixXd& values, Eigen::MatrixXd& filtered_values)>

Definition at line 67 of file stomp_moveit_task.hpp.

Joints

using stomp_moveit::Joints = typedef std::vector<const moveit::core::JointModel*>

Definition at line 47 of file conversion_functions.hpp.

NoiseGeneratorFn

using stomp_moveit::NoiseGeneratorFn = typedef std::function<bool(const Eigen::MatrixXd& values, Eigen::MatrixXd& noisy_values, Eigen::MatrixXd& noise)>

Definition at line 62 of file stomp_moveit_task.hpp.

PostIterationFn

using stomp_moveit::PostIterationFn = typedef std::function<void(int iteration_number, double cost, const Eigen::MatrixXd& values)>

Definition at line 69 of file stomp_moveit_task.hpp.

StateValidatorFn

using stomp_moveit::StateValidatorFn = typedef std::function<double(const Eigen::VectorXd& state_positions)>

Definition at line 53 of file cost_functions.hpp.

Function Documentation

createStompTask()

stomp::TaskPtr stomp_moveit::createStompTask	(	const stomp::StompConfiguration &	config,
		StompPlanningContext &	context
	)

Definition at line 147 of file stomp_moveit_planning_context.cpp.

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extractSeedTrajectory()

bool stomp_moveit::extractSeedTrajectory	(	const planning_interface::MotionPlanRequest &	req,
		const moveit::core::RobotModelConstPtr &	robot_model,
		robot_trajectory::RobotTrajectoryPtr &	seed
	)

Definition at line 94 of file stomp_moveit_planning_context.cpp.

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fillRobotTrajectory()

void stomp_moveit::fillRobotTrajectory	(	const Eigen::MatrixXd &	trajectory_values,
		const moveit::core::RobotState &	reference_state,
		robot_trajectory::RobotTrajectory &	trajectory
	)

Writes the provided position value sequence into a robot trajectory.

Parameters

trajectory_values	The joint value sequence to copy the waypoints from
reference_state	A robot state providing default joint values and robot model
trajectory	The robot trajectory containing waypoints with updated values

Definition at line 92 of file conversion_functions.hpp.

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getPositions()

std::vector<double> stomp_moveit::getPositions	(	const moveit::core::RobotState &	state,
		const Joints &	joints
	)

Copies the position values of a robot state filtered by the provided joints.

Parameters

state	The RobotState to copy the values from
joints	The joints that should be considered

Returns

The vector containing the joint values

Definition at line 57 of file conversion_functions.hpp.

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getStompConfig()

stomp::StompConfiguration stomp_moveit::getStompConfig	(	const stomp_moveit::Params &	params,
		size_t	num_dimensions
	)

Definition at line 191 of file stomp_moveit_planning_context.cpp.

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matrixToRobotTrajectory()

robot_trajectory::RobotTrajectory stomp_moveit::matrixToRobotTrajectory	(	const Eigen::MatrixXd &	trajectory_values,
		const moveit::core::RobotState &	reference_state,
		const moveit::core::JointModelGroup *	group = nullptr
	)

Constructs a new robot trajectory with the waypoints provided in the input matrix.

Parameters

trajectory_values	The waypoints and positions to copy
reference_state	The RobotState with default joint values and robot model
group	An optional JointModelGroup to filter for joints

Returns

The created RobotTrajectory containing updated waypoints

Definition at line 118 of file conversion_functions.hpp.

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robotTrajectoryToMatrix()

Eigen::MatrixXd stomp_moveit::robotTrajectoryToMatrix

(

const robot_trajectory::RobotTrajectory &

trajectory

)

Copies the waypoint positions of a RobotTrajectory into an Eigen matrix.

Parameters

trajectory

The RobotTrajectory to read the waypoint positions fromi

Returns

The matrix representing a sequence of waypoint positions

Definition at line 134 of file conversion_functions.hpp.

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setJointPositions()

void stomp_moveit::setJointPositions	(	const Eigen::VectorXd &	values,
		const Joints &	joints,
		moveit::core::RobotState &	state
	)

Writes the provided position values into a robot state.

This function requires the dimension of values and joints to be equal!

Parameters

values	The joint position values to copy from
joints	The joints that should be considered
state	The robot state to update with the new joint values

Definition at line 77 of file conversion_functions.hpp.

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solveWithStomp()

bool stomp_moveit::solveWithStomp	(	const std::shared_ptr< stomp::Stomp > &	stomp,
		const moveit::core::RobotState &	start_state,
		const moveit::core::RobotState &	goal_state,
		const moveit::core::JointModelGroup *	group,
		const robot_trajectory::RobotTrajectoryPtr &	input_trajectory,
		robot_trajectory::RobotTrajectoryPtr &	output_trajectory
	)

Definition at line 67 of file stomp_moveit_planning_context.cpp.

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