Contains information about a planning group. More...

Public Member Functions
	ChompPlanningGroup (Robot *rob, const std::vector< int > &active_joints)

template<typename Derived >
void	getRandomState (Eigen::MatrixBase< Derived > &state_vec) const
	Gets a random state vector within the joint limits.

bool	addCollisionPoint (CollisionPoint &collision_point)
	Adds the collision point to this planning group, if any of the joints in this group can control the collision point in some way. More...

void	draw () const
	Displays all bounding spheres.

void	draw (std::vector< Eigen::Affine3d > &segment) const

void	draw (std::vector< std::vector< double > > &segment) const

Public Attributes
Robot *	robot_

std::string	name_
	Move3D robot which is planned. More...

int	num_joints_
	Number of joints used in planning.

std::vector< ChompJoint >	chomp_joints_
	Joints used in planning.

std::vector< std::string >	link_names_
	Links used in planning.

std::vector< std::string >	collision_link_names_
	Links used in collision checking.

std::vector< CollisionPoint >	collision_points_
	Ordered list of collision checking points (from root to tip)

Detailed Description

Contains information about a planning group.

Member Function Documentation

bool ChompPlanningGroup::addCollisionPoint ( CollisionPoint & collision_point )

Adds the collision point to this planning group, if any of the joints in this group can control the collision point in some way.

Also converts the ChompCollisionPoint::parent_joints vector into group joint indexes

std::string ChompPlanningGroup::name_

Move3D robot which is planned.

Name of the planning group

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