chomp_cost.cpp
/tmp/ws/src/moveit/moveit_planners/chomp/chomp_motion_planner/src/
chomp__cost_8cpp.html
chomp_motion_planner/chomp_cost.h
chomp_motion_planner/chomp_utils.h
chomp
chomp_cost.h
/tmp/ws/src/moveit/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/
chomp__cost_8h.html
chomp_motion_planner/chomp_trajectory.h
chomp::ChompCost
chomp
chomp_optimizer.cpp
/tmp/ws/src/moveit/moveit_planners/chomp/chomp_motion_planner/src/
chomp__optimizer_8cpp.html
chomp_motion_planner/chomp_optimizer.h
chomp_motion_planner/chomp_utils.h
chomp
double
getRandomDouble
namespacechomp.html
a3cb4d6d2179e5505bce99ccf70e4b61e
()
chomp_optimizer.h
/tmp/ws/src/moveit/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/
chomp__optimizer_8h.html
chomp_motion_planner/chomp_parameters.h
chomp_motion_planner/chomp_trajectory.h
chomp_motion_planner/chomp_cost.h
chomp_motion_planner/multivariate_gaussian.h
chomp::ChompOptimizer
chomp
chomp_parameters.cpp
/tmp/ws/src/moveit/moveit_planners/chomp/chomp_motion_planner/src/
chomp__parameters_8cpp.html
chomp_motion_planner/chomp_parameters.h
chomp
chomp_parameters.h
/tmp/ws/src/moveit/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/
chomp__parameters_8h.html
chomp::ChompParameters
chomp
chomp_planner.cpp
/tmp/ws/src/moveit/moveit_planners/chomp/chomp_motion_planner/src/
chomp__planner_8cpp.html
chomp_motion_planner/chomp_planner.h
chomp_motion_planner/chomp_trajectory.h
chomp_motion_planner/chomp_optimizer.h
chomp
chomp_planner.h
/tmp/ws/src/moveit/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/
chomp__planner_8h.html
chomp_motion_planner/chomp_parameters.h
chomp::ChompPlanner
chomp
chomp_trajectory.cpp
/tmp/ws/src/moveit/moveit_planners/chomp/chomp_motion_planner/src/
chomp__trajectory_8cpp.html
chomp_motion_planner/chomp_trajectory.h
chomp
chomp_trajectory.h
/tmp/ws/src/moveit/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/
chomp__trajectory_8h.html
chomp_motion_planner/chomp_utils.h
chomp::ChompTrajectory
chomp
chomp_utils.h
/tmp/ws/src/moveit/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/
chomp__utils_8h.html
chomp
static double
normalizeAngle
namespacechomp.html
a1aae9030c10786a3d6ee02b82c3af8c4
(double angle)
static double
normalizeAnglePositive
namespacechomp.html
a812ecedf3dff555381aaffdeb540555f
(double angle)
static void
robotStateToArray
namespacechomp.html
a31d02923dca49e2e159eb21330254e99
(const moveit::core::RobotState &state, const std::string &planning_group_name, Eigen::MatrixXd::RowXpr joint_array)
static double
shortestAngularDistance
namespacechomp.html
ab960ac68e29455075c29159b42c6046c
(double start, double end)
static const int
DIFF_RULE_LENGTH
namespacechomp.html
a00ceb4fc5e1c66b78ed4f27ec5070890
static const double
DIFF_RULES
namespacechomp.html
ab286a447a07d0fe5e8dc07aa5009ab52
[3][DIFF_RULE_LENGTH]
multivariate_gaussian.h
/tmp/ws/src/moveit/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/
multivariate__gaussian_8h.html
chomp::MultivariateGaussian
chomp
chomp::ChompCost
classchomp_1_1ChompCost.html
ChompCost
classchomp_1_1ChompCost.html
a0f57ec99bc10539e37c11fdb8271b233
(const ChompTrajectory &trajectory, int joint_number, const std::vector< double > &derivative_costs, double ridge_factor=0.0)
double
getCost
classchomp_1_1ChompCost.html
af728fee57513bc2d7e07c74a653af192
(const Eigen::MatrixXd::ColXpr &joint_trajectory) const
void
getDerivative
classchomp_1_1ChompCost.html
a08f46f786f0e17041ac8b9c1750acbb1
(const Eigen::MatrixXd::ColXpr &joint_trajectory, Eigen::MatrixBase< Derived > &derivative) const
double
getMaxQuadCostInvValue
classchomp_1_1ChompCost.html
a62f99a41073f7f0f7413b9a4e868c6b1
() const
const Eigen::MatrixXd &
getQuadraticCost
classchomp_1_1ChompCost.html
a54ca3b8d3ffd77eb9ee7c5c8d983b6cb
() const
const Eigen::MatrixXd &
getQuadraticCostInverse
classchomp_1_1ChompCost.html
a3af0dcc0762ac85c4ec8b79765b66706
() const
void
scale
classchomp_1_1ChompCost.html
af2fd127ceeebeb80a172b24656e62cfe
(double scale)
virtual
~ChompCost
classchomp_1_1ChompCost.html
ae10337b24bc348ed818cc9735ee7e521
()
Eigen::MatrixXd
getDiffMatrix
classchomp_1_1ChompCost.html
a6cd62f5ab9ede1b76d1beed1edf19a92
(int size, const double *diff_rule) const
Eigen::MatrixXd
quad_cost_
classchomp_1_1ChompCost.html
a413f404806a1e284bd6a7d526e03103c
Eigen::MatrixXd
quad_cost_full_
classchomp_1_1ChompCost.html
a6806f06d11d296c415ae6e286fff6167
Eigen::MatrixXd
quad_cost_inv_
classchomp_1_1ChompCost.html
a1ea4ea9440e7def3b97eff563b1a6fe6
chomp::ChompOptimizer
classchomp_1_1ChompOptimizer.html
ChompOptimizer
classchomp_1_1ChompOptimizer.html
a08e1bf73cd9db50dcfdfe627aba4282d
(ChompTrajectory *trajectory, const planning_scene::PlanningSceneConstPtr &planning_scene, const std::string &planning_group, const ChompParameters *parameters, const moveit::core::RobotState &start_state)
void
destroy
classchomp_1_1ChompOptimizer.html
a95e16eaf024162f644072f3f986b9e9b
()
bool
isCollisionFree
classchomp_1_1ChompOptimizer.html
a02fbd54421a4d74e31a25b9df2ec68f3
() const
bool
isInitialized
classchomp_1_1ChompOptimizer.html
aa9ccfec222dda86c4cec470e28f441fa
() const
bool
optimize
classchomp_1_1ChompOptimizer.html
a8bb956bcb8dbdc491c3339235cdec4a2
()
virtual
~ChompOptimizer
classchomp_1_1ChompOptimizer.html
a2d645e404e612383fc506ac65935a88d
()
void
addIncrementsToTrajectory
classchomp_1_1ChompOptimizer.html
a2db6515a66d055215071b41514c4936e
()
void
calculateCollisionIncrements
classchomp_1_1ChompOptimizer.html
a58b03cf2a0276ed687f285dbfe3498e3
()
void
calculatePseudoInverse
classchomp_1_1ChompOptimizer.html
aa1ace51000e0432ef922b5ad7bd25bda
()
void
calculateSmoothnessIncrements
classchomp_1_1ChompOptimizer.html
a9e29afcf3f2c7a6e4eebe6c5f9d5f82f
()
void
calculateTotalIncrements
classchomp_1_1ChompOptimizer.html
aa0a834c7c08af9c552178ae30ccc1673
()
void
computeJointProperties
classchomp_1_1ChompOptimizer.html
a694f826e2e33b3a12b4054951012a152
(int trajectoryPoint)
void
debugCost
classchomp_1_1ChompOptimizer.html
a15f03bdad314356db449de130f9be5e8
()
double
getCollisionCost
classchomp_1_1ChompOptimizer.html
a45ee586e9c8e970059f81cc3b595d81f
()
void
getJacobian
classchomp_1_1ChompOptimizer.html
a4b4034539ad534476cadce76a3327e04
(int trajectoryPoint, Eigen::Vector3d &collision_point_pos, std::string &jointName, Eigen::MatrixBase< Derived > &jacobian) const
double
getPotential
classchomp_1_1ChompOptimizer.html
a13b08a670ac183c2a6f8e3dcf1dd27ff
(double field_distance, double radius, double clearance)
void
getRandomMomentum
classchomp_1_1ChompOptimizer.html
a96dc84ea0533f4449a25aefce60fc0e5
()
double
getSmoothnessCost
classchomp_1_1ChompOptimizer.html
a34399fd4b1c32f1a43cac03ec531f455
()
double
getTrajectoryCost
classchomp_1_1ChompOptimizer.html
a5b8fb75a78691f2ccfd19fbad87027d6
()
void
handleJointLimits
classchomp_1_1ChompOptimizer.html
a836de9ad21ca36219b237be668376969
()
void
initialize
classchomp_1_1ChompOptimizer.html
ae07453fd4e982a96406e68ffd7058f2b
()
bool
isCurrentTrajectoryMeshToMeshCollisionFree
classchomp_1_1ChompOptimizer.html
a41dcf0f0ada22bc19c4aee890f5cc751
() const
bool
isParent
classchomp_1_1ChompOptimizer.html
acfaa34daef6a1ac609561fefa6dba948
(const std::string &childLink, const std::string &parentLink) const
void
performForwardKinematics
classchomp_1_1ChompOptimizer.html
a1e7ec0f06f19405956b5dab1e63f2c74
()
void
perturbTrajectory
classchomp_1_1ChompOptimizer.html
a9d660cc8157a54e74a16608602ae2d4d
()
void
registerParents
classchomp_1_1ChompOptimizer.html
afee1f67cefc7f6e926bc13ae66389a48
(const moveit::core::JointModel *model)
void
setRobotStateFromPoint
classchomp_1_1ChompOptimizer.html
a9dd8e8d8f903112d32743448090a0cbd
(ChompTrajectory &group_trajectory, int i)
void
updateFullTrajectory
classchomp_1_1ChompOptimizer.html
a16b9649944d27ac194464763f1c381a5
()
void
updateMomentum
classchomp_1_1ChompOptimizer.html
a42c858cff483e1f22c84d40e58d607e4
()
void
updatePositionFromMomentum
classchomp_1_1ChompOptimizer.html
ac5fe46b61d0f13690015b5341f596b59
()
Eigen::MatrixXd
best_group_trajectory_
classchomp_1_1ChompOptimizer.html
a52c1ffa2020514e1da0dc51cfc607c02
double
best_group_trajectory_cost_
classchomp_1_1ChompOptimizer.html
a290506c3d2fe5ea3f3b7ba24d5cf558a
unsigned int
collision_free_iteration_
classchomp_1_1ChompOptimizer.html
a7b74f22b7289e6c124db5aa0088731b9
Eigen::MatrixXd
collision_increments_
classchomp_1_1ChompOptimizer.html
a8de144c16b30bdb83c47c8b3ed84517f
std::vector< EigenSTL::vector_Vector3d >
collision_point_acc_eigen_
classchomp_1_1ChompOptimizer.html
a8c1ece38b849b164289f5753945f3c95
std::vector< std::vector< std::string > >
collision_point_joint_names_
classchomp_1_1ChompOptimizer.html
a70c367db1a30edc1cb3c97c4328749d2
std::vector< EigenSTL::vector_Vector3d >
collision_point_pos_eigen_
classchomp_1_1ChompOptimizer.html
abe45133eaaa4dfbc2224abaa25a5f7e1
std::vector< std::vector< double > >
collision_point_potential_
classchomp_1_1ChompOptimizer.html
a4068aed1b38efd2f54b85b62960a7662
std::vector< EigenSTL::vector_Vector3d >
collision_point_potential_gradient_
classchomp_1_1ChompOptimizer.html
a5f7219b0c2f2eece57910cb22d9c7ef1
std::vector< EigenSTL::vector_Vector3d >
collision_point_vel_eigen_
classchomp_1_1ChompOptimizer.html
a18cc68cc4fd817ebf5f5e51297a8e7e8
std::vector< std::vector< double > >
collision_point_vel_mag_
classchomp_1_1ChompOptimizer.html
ac6696b62d069c117952aeca2b23de40a
Eigen::MatrixXd
final_increments_
classchomp_1_1ChompOptimizer.html
a4fe49a4b1890b27815319f947cb30cf9
int
free_vars_end_
classchomp_1_1ChompOptimizer.html
a9f4df819373a8fc4fc4c33bf3e61c3a2
int
free_vars_start_
classchomp_1_1ChompOptimizer.html
ab2028b705c347074aef529a0c4a93534
ChompTrajectory *
full_trajectory_
classchomp_1_1ChompOptimizer.html
a3eeaf83e4d84b829c91d597d235e2805
ChompTrajectory
group_trajectory_
classchomp_1_1ChompOptimizer.html
ac8a33d22edb4dac95d88480f0b114ba1
Eigen::MatrixXd
group_trajectory_backup_
classchomp_1_1ChompOptimizer.html
a54068cc585225da9b42b39f95a7a0354
collision_detection::GroupStateRepresentationPtr
gsr_
classchomp_1_1ChompOptimizer.html
afbb9263fa4e62b19d6e8128cd57c477b
const collision_detection::CollisionEnvHybrid *
hy_env_
classchomp_1_1ChompOptimizer.html
a40a132a004cb8f02a496f552bdcefeb5
bool
initialized_
classchomp_1_1ChompOptimizer.html
af2c89120550e89f097a5694b4484e610
bool
is_collision_free_
classchomp_1_1ChompOptimizer.html
ac115aaab6bcdf4ffc4bb3abbb7cc3320
int
iteration_
classchomp_1_1ChompOptimizer.html
aee94008b982c7fd677c6c2191e5bfd75
Eigen::MatrixXd
jacobian_
classchomp_1_1ChompOptimizer.html
a630a1c0d5720867f82d83e16b2d43778
Eigen::MatrixXd
jacobian_jacobian_tranpose_
classchomp_1_1ChompOptimizer.html
aacf642cdbcedc4e4ac82519aa09767ea
Eigen::MatrixXd
jacobian_pseudo_inverse_
classchomp_1_1ChompOptimizer.html
a9e5a7b8bd8a882869725e42e92237ba7
std::vector< EigenSTL::vector_Vector3d >
joint_axes_
classchomp_1_1ChompOptimizer.html
acf4ca8d231b15a584ae0ce98779850bd
std::vector< ChompCost >
joint_costs_
classchomp_1_1ChompOptimizer.html
ad522962453ef1b68c88b0d177e49add6
const moveit::core::JointModelGroup *
joint_model_group_
classchomp_1_1ChompOptimizer.html
ac449fe23198404a23ccc12d45ad0a0cb
std::vector< std::string >
joint_names_
classchomp_1_1ChompOptimizer.html
ae5d0efa2d46c8d3ec261cab6a010ce8f
std::map< std::string, std::map< std::string, bool > >
joint_parent_map_
classchomp_1_1ChompOptimizer.html
ae25142ac19eff853f8e205c33c94d8f9
std::vector< EigenSTL::vector_Vector3d >
joint_positions_
classchomp_1_1ChompOptimizer.html
a9af8690faea1fe76e6c953d3ad554b56
Eigen::VectorXd
joint_state_velocities_
classchomp_1_1ChompOptimizer.html
a88db4a4ea2dd1f55b819d21aab70785f
int
last_improvement_iteration_
classchomp_1_1ChompOptimizer.html
abc39cdc56e54ea91c6806d89021dccf9
Eigen::MatrixXd
momentum_
classchomp_1_1ChompOptimizer.html
a1413a886f8132685d9756a0563c61b2d
std::vector< MultivariateGaussian >
multivariate_gaussian_
classchomp_1_1ChompOptimizer.html
ae68d937e3dc3a104132bebf9ad65cf92
unsigned int
num_collision_free_iterations_
classchomp_1_1ChompOptimizer.html
a4d092cc008b0cf9bd47971fee55f30ca
int
num_collision_points_
classchomp_1_1ChompOptimizer.html
a5ec7779d032e89339c31556ef37f61f1
int
num_joints_
classchomp_1_1ChompOptimizer.html
ada498aefc4c6e9c5a9ee6e7b0b71fefc
int
num_vars_all_
classchomp_1_1ChompOptimizer.html
a10178cbef38ab61ec8efe6ff1f537b37
int
num_vars_free_
classchomp_1_1ChompOptimizer.html
a636d147684c72ba10b6eac8624ceb20b
const ChompParameters *
parameters_
classchomp_1_1ChompOptimizer.html
a82519d9ad09cad7a441c19136db216bf
std::string
planning_group_
classchomp_1_1ChompOptimizer.html
a0bf78e07c502c4a51d2f87ea4762e622
planning_scene::PlanningSceneConstPtr
planning_scene_
classchomp_1_1ChompOptimizer.html
a45348d687e33567bade08b7c7d54f35a
std::vector< std::vector< int > >
point_is_in_collision_
classchomp_1_1ChompOptimizer.html
afc9b1c126a4051a508d59a021b0315c2
Eigen::VectorXd
random_joint_momentum_
classchomp_1_1ChompOptimizer.html
abccc55e574d444152c2f0f6ca12c1930
Eigen::MatrixXd
random_momentum_
classchomp_1_1ChompOptimizer.html
a15104a5e571e1feb55c7c16615eface9
Eigen::VectorXd
random_state_
classchomp_1_1ChompOptimizer.html
a1460cddc9f6d8fb5b819100f77126179
const moveit::core::RobotModelConstPtr &
robot_model_
classchomp_1_1ChompOptimizer.html
aa77c3cd6c65392e107c6aa732a0dd867
Eigen::VectorXd
smoothness_derivative_
classchomp_1_1ChompOptimizer.html
a06fd3548c17ad7e728a7d1e6b9394bdd
Eigen::MatrixXd
smoothness_increments_
classchomp_1_1ChompOptimizer.html
a0ac29189993f328f89f8fcec04d640ea
moveit::core::RobotState
start_state_
classchomp_1_1ChompOptimizer.html
ab1d91bec80485ee143fd1e8a37004100
moveit::core::RobotState
state_
classchomp_1_1ChompOptimizer.html
a41265fb8d09d499844098b979538d6df
std::vector< int >
state_is_in_collision_
classchomp_1_1ChompOptimizer.html
a7eb2fa24e9cf2b0157b20d348a8cef86
double
stochasticity_factor_
classchomp_1_1ChompOptimizer.html
a5aacf2b5248010ed35f1d654a5739918
double
worst_collision_cost_state_
classchomp_1_1ChompOptimizer.html
a31c838ade46487693c228779d28c65a8
chomp::ChompParameters
classchomp_1_1ChompParameters.html
ChompParameters
classchomp_1_1ChompParameters.html
ad8d0b188489ffee6c7dacb0cb667624d
()
void
setRecoveryParams
classchomp_1_1ChompParameters.html
a221e0f9d216e2a9d598cabc15c44fce6
(double learning_rate, double ridge_factor, int planning_time_limit, int max_iterations)
bool
setTrajectoryInitializationMethod
classchomp_1_1ChompParameters.html
ae5df125371bb1c8c164b02a14a80e1f5
(std::string method)
virtual
~ChompParameters
classchomp_1_1ChompParameters.html
a9c83bf159e434bbfcadb31d9995e0ac2
()
double
collision_threshold_
classchomp_1_1ChompParameters.html
a01e2a6c20469273660d939ffecccb439
bool
enable_failure_recovery_
classchomp_1_1ChompParameters.html
aaf4d0d25dfdd9180ead6fb2a25bf290a
bool
filter_mode_
classchomp_1_1ChompParameters.html
a7687a2bc613fe773c56974072a7b257e
double
joint_update_limit_
classchomp_1_1ChompParameters.html
ae03aabba1ced49e6f9dbbdd287adb02d
double
learning_rate_
classchomp_1_1ChompParameters.html
af603e620498d300bde1159e4edd3981c
int
max_iterations_
classchomp_1_1ChompParameters.html
aea2b23c848608c74ab3cfc768f103733
int
max_iterations_after_collision_free_
classchomp_1_1ChompParameters.html
ad429eeecfa51f163373e5f89a8593d11
int
max_recovery_attempts_
classchomp_1_1ChompParameters.html
a31a0ff3e88d4951b147db5f99abd8034
double
min_clearance_
classchomp_1_1ChompParameters.html
a7b0cd3dafbbde6d1d3afd1025a3a3e0d
double
obstacle_cost_weight_
classchomp_1_1ChompParameters.html
aeec8f058d69671792f96c7fa0017e065
double
planning_time_limit_
classchomp_1_1ChompParameters.html
a057028f02f3a2314a57351221b17b8c6
double
pseudo_inverse_ridge_factor_
classchomp_1_1ChompParameters.html
a76bb5c0214818b278cf5525b8e11f4b2
double
ridge_factor_
classchomp_1_1ChompParameters.html
a8a5689561abc217f035eb90623cfc2bc
double
smoothness_cost_acceleration_
classchomp_1_1ChompParameters.html
a6d1eeb3dec5f60058775b67bc748977b
double
smoothness_cost_jerk_
classchomp_1_1ChompParameters.html
a5fccd7eb47435c5a451c02a734a6859a
double
smoothness_cost_velocity_
classchomp_1_1ChompParameters.html
ad3636d8c33aa7e70e482749ff58fe7cc
double
smoothness_cost_weight_
classchomp_1_1ChompParameters.html
a193442a77a13bcd514d1df43d6594ab5
std::string
trajectory_initialization_method_
classchomp_1_1ChompParameters.html
a0b5079717340fb031405bc8191505a18
bool
use_pseudo_inverse_
classchomp_1_1ChompParameters.html
a4b2be5cb20227e77576b5243f57d9522
bool
use_stochastic_descent_
classchomp_1_1ChompParameters.html
a720d0351b9f2c20f27493c00a3a3173a
static const std::vector< std::string >
VALID_INITIALIZATION_METHODS
classchomp_1_1ChompParameters.html
a0535870751bc3927078eedad6c1b1a98
chomp::ChompPlanner
classchomp_1_1ChompPlanner.html
ChompPlanner
classchomp_1_1ChompPlanner.html
ac499a68c3caf32aae60ae2e07e15bf09
()=default
bool
solve
classchomp_1_1ChompPlanner.html
a15329905603fe1bf38e84a3973dc3e83
(const planning_scene::PlanningSceneConstPtr &planning_scene, const planning_interface::MotionPlanRequest &req, const ChompParameters ¶ms, planning_interface::MotionPlanDetailedResponse &res) const
virtual
~ChompPlanner
classchomp_1_1ChompPlanner.html
a155eadd59204ca280771a2bf7607cf68
()=default
chomp::ChompTrajectory
classchomp_1_1ChompTrajectory.html
void
assignCHOMPTrajectoryPointFromRobotState
classchomp_1_1ChompTrajectory.html
a2dbe9348a647ccfa28d47b9e0c03f6ce
(const moveit::core::RobotState &source, size_t chomp_trajectory_point, const moveit::core::JointModelGroup *group)
ChompTrajectory
classchomp_1_1ChompTrajectory.html
ac6648f657f13641600b3d39f1b6270dd
(const ChompTrajectory &source_traj, const std::string &group_name, int diff_rule_length)
ChompTrajectory
classchomp_1_1ChompTrajectory.html
aa25f6d514a767a33b7b2226b00b90ed1
(const moveit::core::RobotModelConstPtr &robot_model, const std::string &group_name, const trajectory_msgs::JointTrajectory &traj)
ChompTrajectory
classchomp_1_1ChompTrajectory.html
a1984d71b15e057fe99f5186d1a090c61
(const moveit::core::RobotModelConstPtr &robot_model, double duration, double discretization, const std::string &group_name)
ChompTrajectory
classchomp_1_1ChompTrajectory.html
acc2b8f14954f80130518d516eafe9b33
(const moveit::core::RobotModelConstPtr &robot_model, size_t num_points, double discretization, const std::string &group_name)
void
fillInCubicInterpolation
classchomp_1_1ChompTrajectory.html
a7a00be5c785764c1a801c8e6364ca32d
()
bool
fillInFromTrajectory
classchomp_1_1ChompTrajectory.html
a7c699cdfffe049e9b9e103d787b41b39
(const robot_trajectory::RobotTrajectory &trajectory)
void
fillInLinearInterpolation
classchomp_1_1ChompTrajectory.html
ad07452c3be172a1f4f61327d215e2c02
()
void
fillInMinJerk
classchomp_1_1ChompTrajectory.html
ae303b1655bb3bc70acb3acc68c7f071b
()
double
getDiscretization
classchomp_1_1ChompTrajectory.html
a555a33aaa519180084a11cf60575e851
() const
double
getDuration
classchomp_1_1ChompTrajectory.html
a15d7c4bdf0b5792ba45cbd1cc21fe1b9
() const
size_t
getEndIndex
classchomp_1_1ChompTrajectory.html
a452a2c36a6935ca0e6c88c1830650954
() const
Eigen::Block< Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic >
getFreeJointTrajectoryBlock
classchomp_1_1ChompTrajectory.html
a836c2da7e22cfee2acaf0b230feb6c1f
(size_t joint)
Eigen::Block< Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic >
getFreeTrajectoryBlock
classchomp_1_1ChompTrajectory.html
a0e2396f83d3e6e93da03c01022f296c3
()
size_t
getFullTrajectoryIndex
classchomp_1_1ChompTrajectory.html
ac1b222737a3ca3bb9f8e9489147b2d33
(size_t i) const
Eigen::MatrixXd::ColXpr
getJointTrajectory
classchomp_1_1ChompTrajectory.html
ac4a59a86e9afc0616d9ee44a6440d348
(int joint)
void
getJointVelocities
classchomp_1_1ChompTrajectory.html
a848e22be4db55637dc2eb1141111c0c1
(size_t traj_point, Eigen::MatrixBase< Derived > &velocities)
size_t
getNumFreePoints
classchomp_1_1ChompTrajectory.html
afb272cf4167ff09cf8a264e305e70b8f
() const
size_t
getNumJoints
classchomp_1_1ChompTrajectory.html
a972938a9774b1e0654d56ed7dd7da0e9
() const
size_t
getNumPoints
classchomp_1_1ChompTrajectory.html
a61bca7c981f6f94adaee9703828d34ff
() const
size_t
getStartIndex
classchomp_1_1ChompTrajectory.html
a46b4d7d90712373552677264d74701be
() const
Eigen::MatrixXd &
getTrajectory
classchomp_1_1ChompTrajectory.html
ae0dc82cbaec33cbe55805e66264f7fc8
()
Eigen::MatrixXd::RowXpr
getTrajectoryPoint
classchomp_1_1ChompTrajectory.html
a98259b5fe962c1f2e010b3bb747324f3
(int traj_point)
double &
operator()
classchomp_1_1ChompTrajectory.html
afdeded395e495aa49e0e4ba04c664b6c
(size_t traj_point, size_t joint)
double
operator()
classchomp_1_1ChompTrajectory.html
ad89da6edd4f01cbb224e519978773dbd
(size_t traj_point, size_t joint) const
void
setStartEndIndex
classchomp_1_1ChompTrajectory.html
affcb5adc05050af106be398bf8598ec0
(size_t start_index, size_t end_index)
void
updateFromGroupTrajectory
classchomp_1_1ChompTrajectory.html
a4492f077e039ff75bf4a62f678242898
(const ChompTrajectory &group_trajectory)
virtual
~ChompTrajectory
classchomp_1_1ChompTrajectory.html
ab4cdd7511289ec35278499d4eb48c595
()=default
void
init
classchomp_1_1ChompTrajectory.html
ab36b824db97ddb30ba87bdca2420146e
()
double
discretization_
classchomp_1_1ChompTrajectory.html
a8ed656684e070c67c83efdf0ddc8aa7f
double
duration_
classchomp_1_1ChompTrajectory.html
aa73eb2c5868cf48eb6ed4b5cb7560131
size_t
end_index_
classchomp_1_1ChompTrajectory.html
a066bb328d711cd951e7781153809fe66
std::vector< size_t >
full_trajectory_index_
classchomp_1_1ChompTrajectory.html
a1b377670fb1855af07443216700a7220
size_t
num_joints_
classchomp_1_1ChompTrajectory.html
a709c65eda3acae3163b04ffb120f44f5
size_t
num_points_
classchomp_1_1ChompTrajectory.html
a65298098431aca8578a7f0b44d0f4585
std::string
planning_group_name_
classchomp_1_1ChompTrajectory.html
afe14f43b5e1cb11a8599ea3905388067
size_t
start_index_
classchomp_1_1ChompTrajectory.html
a01b6e68019e99eb701152ea8002590cb
Eigen::MatrixXd
trajectory_
classchomp_1_1ChompTrajectory.html
ac54c88664251d5277cbcb2635726c8e2
chomp::MultivariateGaussian
classchomp_1_1MultivariateGaussian.html
MultivariateGaussian
classchomp_1_1MultivariateGaussian.html
a53b2e635d0c1fe08ac1aa7d1290e63ab
(const Eigen::MatrixBase< Derived1 > &mean, const Eigen::MatrixBase< Derived2 > &covariance)
void
sample
classchomp_1_1MultivariateGaussian.html
a147d649b2d6bf6ad361e05eb940c560d
(Eigen::MatrixBase< Derived > &output)
Eigen::MatrixXd
covariance_
classchomp_1_1MultivariateGaussian.html
ab38d382e1f233862b6f0af88548ac7eb
Eigen::MatrixXd
covariance_cholesky_
classchomp_1_1MultivariateGaussian.html
a83e0cf549ec7f859080182bcede372d9
boost::variate_generator< boost::mt19937, boost::normal_distribution<> >
gaussian_
classchomp_1_1MultivariateGaussian.html
aff5aa31a075784738981500919d8434a
Eigen::VectorXd
mean_
classchomp_1_1MultivariateGaussian.html
a0901dda87766287a1597db26c4a19ea6
boost::normal_distribution
normal_dist_
classchomp_1_1MultivariateGaussian.html
aaaeff46ed867664bc62d4541e1c2691c
boost::mt19937
rng_
classchomp_1_1MultivariateGaussian.html
a85676d7eeb93a12cbf135dccbe558e29
int
size_
classchomp_1_1MultivariateGaussian.html
aef78522e88b3dbc512317ef09b8e6f0c
chomp
namespacechomp.html
chomp::ChompCost
chomp::ChompOptimizer
chomp::ChompParameters
chomp::ChompPlanner
chomp::ChompTrajectory
chomp::MultivariateGaussian
double
getRandomDouble
namespacechomp.html
a3cb4d6d2179e5505bce99ccf70e4b61e
()
static double
normalizeAngle
namespacechomp.html
a1aae9030c10786a3d6ee02b82c3af8c4
(double angle)
static double
normalizeAnglePositive
namespacechomp.html
a812ecedf3dff555381aaffdeb540555f
(double angle)
static void
robotStateToArray
namespacechomp.html
a31d02923dca49e2e159eb21330254e99
(const moveit::core::RobotState &state, const std::string &planning_group_name, Eigen::MatrixXd::RowXpr joint_array)
static double
shortestAngularDistance
namespacechomp.html
ab960ac68e29455075c29159b42c6046c
(double start, double end)
static const int
DIFF_RULE_LENGTH
namespacechomp.html
a00ceb4fc5e1c66b78ed4f27ec5070890
static const double
DIFF_RULES
namespacechomp.html
ab286a447a07d0fe5e8dc07aa5009ab52
[3][DIFF_RULE_LENGTH]