Inheritance diagram for Saba::GraspIkRrt:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	GraspIkRrt (CSpaceSampledPtr cspace, VirtualRobot::ManipulationObjectPtr object, VirtualRobot::AdvancedIKSolverPtr ikSolver, VirtualRobot::GraspSetPtr graspSet, float probabSampleGoal=0.1f)

	~GraspIkRrt () override

bool	plan (bool bQuiet=false) override

void	printConfig (bool printOnlyParams=false) override

bool	setGoal (const Eigen::VectorXf &c) override
	This is not allowed here, since we sample goal configurations during planning: If called an exception is thrown. More...

void	reset () override
	reset the planner More...

Public Member Functions inherited from Saba::BiRrt
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	BiRrt (CSpacePtr cspace, RrtMethod modeA=eConnect, RrtMethod modeB=eConnect, float samplingSize=-1)

	~BiRrt () override

bool	setStart (const Eigen::VectorXf &c) override
	set start configuration More...

CSpaceTreePtr	getTree2 ()

Public Member Functions inherited from Saba::Rrt
	Rrt (CSpacePtr cspace, RrtMethod mode=eConnect, float probabilityExtendToGoal=0.1f, float samplingSize=-1)

	~Rrt () override

bool	plan (bool bQuiet=false) override

void	printConfig (bool printOnlyParams=false) override

void	reset () override
	reset the planner More...

bool	setStart (const Eigen::VectorXf &c) override
	set start configuration More...

bool	setGoal (const Eigen::VectorXf &c) override
	set goal configuration More...

void	setProbabilityExtendToGoal (float p)

CSpaceTreePtr	getTree ()

Public Member Functions inherited from Saba::MotionPlanner
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	MotionPlanner (CSpacePtr cspace)

virtual	~MotionPlanner ()
	destructor More...

CSpacePathPtr	getSolution ()

void	setMaxCycles (unsigned int mc)

Eigen::VectorXf	getStartConfig ()
	return start configuration More...

Eigen::VectorXf	getGoalConfig ()
	return goal configuration More...

unsigned int	getNrOfCycles ()
	check that planner is initialized More...

CSpacePtr	getCSpace ()
	The CSpace. More...

virtual void	stopExecution ()

void	setName (std::string sName)
	Give the planner a name. More...

std::string	getName ()
	The name of the planner. More...

float	getPlanningTimeMS ()

virtual bool	isInitialized ()
	returns true, when start and goal config have been set More...

void	setPlanningTimeout (float timeoutMs)

Protected Member Functions
bool	doPlanningCycle ()

bool	searchNewGoal ()

bool	checkGoalConfig (Eigen::VectorXf &config)

bool	addIKSolution (Eigen::VectorXf &config, VirtualRobot::GraspPtr grasp)

Protected Member Functions inherited from Saba::BiRrt
bool	createSolution (bool bQuiet=false) override
	create the solution More...

Protected Member Functions inherited from Saba::Rrt
bool	createSolution (bool bQuiet=false) override
	create the solution More...

virtual ExtensionResult	extend (Eigen::VectorXf &c, CSpaceTreePtr tree, int &storeLastAddedID)

virtual ExtensionResult	connectComplete (Eigen::VectorXf &c, CSpaceTreePtr tree, int &storeLastAddedID)

virtual ExtensionResult	connectUntilCollision (Eigen::VectorXf &c, CSpaceTreePtr tree, int &storeLastAddedID)

Protected Attributes
float	sampleGoalProbab

VirtualRobot::ManipulationObjectPtr	object

VirtualRobot::AdvancedIKSolverPtr	ikSolver

VirtualRobot::GraspSetPtr	graspSet

VirtualRobot::RobotNodeSetPtr	rns

VirtualRobot::GraspSetPtr	graspSetWorking

bool	found
	Indicates if a solution was found. More...

std::map< VirtualRobot::GraspPtr, Saba::CSpaceNodePtr >	graspNodeMapping

std::vector< Eigen::VectorXf >	ikSolutions

Protected Attributes inherited from Saba::BiRrt
CSpaceTreePtr	tree2
	the second tree More...

int	lastAddedID2
	ID of last added node. More...

RrtMethod	rrtMode2

Protected Attributes inherited from Saba::Rrt
CSpaceTreePtr	tree
	the rrt on which are operating More...

CSpaceNodePtr	startNode
	start node (root of RRT) More...

CSpaceNodePtr	goalNode
	goal node (set when RRT weas successfully connected to goalConfig) More...

Eigen::VectorXf	tmpConfig
	tmp config More...

float	extendGoToGoal
	the probability that the goal config is used instead of a randomly created configuration More...

float	extendStepSize
	step size for one rrt extend (copied from cspace) More...

int	lastAddedID
	ID of last added node. More...

RrtMethod	rrtMode

Protected Attributes inherited from Saba::MotionPlanner
CSpacePtr	cspace
	the cspace on which are operating More...

CSpacePathPtr	solution
	the solution More...

bool	stopSearch
	indicates that the search should be interrupted More...

unsigned int	dimension
	dimension of c-space More...

Eigen::VectorXf	startConfig
	start config More...

bool	startValid

Eigen::VectorXf	goalConfig
	goal config More...

bool	goalValid

unsigned int	maxCycles
	maximum cycles for searching More...

unsigned int	cycles
	current cycles done in the run method More...

std::string	name
	Name of this planner (standard: "Motion Planner") More...

float	planningTime

float	planningTimeout
	Planning time in milliseconds. More...

Additional Inherited Members
Public Types inherited from Saba::Rrt
enum	RrtMethod { eExtend, eConnect, eConnectCompletePath }

enum	ExtensionResult { eError, eFailed, eSuccess, ePartial }

Detailed Description

The GraspIkRrt planner combines the search for a feasible grasp and an IK solution with the search for a collision-free motion.

Constructor & Destructor Documentation

◆ GraspIkRrt()

Saba::GraspIkRrt::GraspIkRrt	(	CSpaceSampledPtr	cspace,
		VirtualRobot::ManipulationObjectPtr	object,
		VirtualRobot::AdvancedIKSolverPtr	ikSolver,
		VirtualRobot::GraspSetPtr	graspSet,
		float	probabSampleGoal = `0.1f`
	)

Constructor

Parameters

cspace	The C-Space that should be used for collision detection
object	The object to be grasped
ikSolver	The ikSolver that should be used
graspSet	The grasps, defining potential goal configurations.
probabSampleGoal	Probability with which a goal config is created during planning loop.

◆ ~GraspIkRrt()

Saba::GraspIkRrt::~GraspIkRrt ( )

overridedefault

Member Function Documentation

◆ addIKSolution()

bool Saba::GraspIkRrt::addIKSolution	(	Eigen::VectorXf &	config,
		VirtualRobot::GraspPtr	grasp
	)

protected

◆ checkGoalConfig()

bool Saba::GraspIkRrt::checkGoalConfig ( Eigen::VectorXf & config )

protected

◆ doPlanningCycle()

bool Saba::GraspIkRrt::doPlanningCycle ( )

protected

◆ plan()

bool Saba::GraspIkRrt::plan ( bool bQuiet = false )

overridevirtual

do the planning (blocking method)

Returns: true if solution was found, otherwise false

Reimplemented from Saba::BiRrt.

◆ printConfig()

void Saba::GraspIkRrt::printConfig ( bool printOnlyParams = false )

overridevirtual

Print setup of planner.

Parameters

printOnlyParams If set the decorating start and end is skipped (can be used to print derived classes).

Reimplemented from Saba::BiRrt.

◆ reset()

void Saba::GraspIkRrt::reset ( )

overridevirtual

reset the planner

Reimplemented from Saba::BiRrt.

◆ searchNewGoal()

bool Saba::GraspIkRrt::searchNewGoal ( )

protected

◆ setGoal()

bool Saba::GraspIkRrt::setGoal ( const Eigen::VectorXf & c )

overridevirtual

This is not allowed here, since we sample goal configurations during planning: If called an exception is thrown.

Reimplemented from Saba::BiRrt.

Field Documentation

◆ found

bool Saba::GraspIkRrt::found

protected

Indicates if a solution was found.

◆ graspNodeMapping

std::map< VirtualRobot::GraspPtr, Saba::CSpaceNodePtr > Saba::GraspIkRrt::graspNodeMapping

protected

◆ graspSet

VirtualRobot::GraspSetPtr Saba::GraspIkRrt::graspSet

protected

◆ graspSetWorking

VirtualRobot::GraspSetPtr Saba::GraspIkRrt::graspSetWorking

protected

◆ ikSolutions

std::vector< Eigen::VectorXf > Saba::GraspIkRrt::ikSolutions

protected

◆ ikSolver

VirtualRobot::AdvancedIKSolverPtr Saba::GraspIkRrt::ikSolver

protected

◆ object

VirtualRobot::ManipulationObjectPtr Saba::GraspIkRrt::object

protected

◆ rns

VirtualRobot::RobotNodeSetPtr Saba::GraspIkRrt::rns

protected

◆ sampleGoalProbab

float Saba::GraspIkRrt::sampleGoalProbab

protected

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GraspIkRrt()

◆ ~GraspIkRrt()

Member Function Documentation

◆ addIKSolution()

◆ checkGoalConfig()

◆ doPlanningCycle()

◆ plan()

◆ printConfig()

◆ reset()

◆ searchNewGoal()

◆ setGoal()

Field Documentation

◆ found

◆ graspNodeMapping

◆ graspSet

◆ graspSetWorking

◆ ikSolutions

◆ ikSolver

◆ object

◆ rns

◆ sampleGoalProbab