se2ez
Public Types | Private Member Functions | Private Attributes | List of all members
se2ez::MotionBuilder Class Reference

Given a robot it generates queries (IK solutions for a specific set of frames) More...

#include <motionbuilder.h>

Public Types

enum  QueryType {
  NAMED,
  FRAME,
  ALL
}
 Type of the requested goal generation query. More...
 

Public Member Functions

Constructors
 MotionBuilder (const RobotPtr &robot, const std::string &ee, const std::vector< std::string > &frames)
 Constructor. Will generate queries for these samples. More...
 
 MotionBuilder (const RobotPtr &robot, const std::string &ee, const std::string &prefix)
 Constructor. More...
 
 MotionBuilder (const MotionBuilder &)=delete
 
 MotionBuilder (MotionBuilder &&)=delete
 
Getters and Setters
const std::map< std::string, StatePtr > & genGoals (QueryType type)
 generates the goals More...
 
const std::set< std::pair< StatePtr, StatePtr > > & getQueries (QueryType type=ALL)
 Gets the motion planning queries as (Start, Goal) pairs. More...
 

Private Member Functions

void genFrameGoals ()
 Generates goals by finding IK solutions of the ee on the given frames. More...
 
void genNamedGoals ()
 Generates goals from the named states. More...
 
void genAllGoals ()
 Generates both Frame and Named Goals. More...
 

Private Attributes

std::map< std::string, StatePtr > goals_
 Valid goals. More...
 
std::set< std::pair< StatePtr, StatePtr > > queries_
 valid motion planning queries (Start,Goal) More...
 
std::set< std::string > ees_
 eeposes to place the end effector More...
 
RobotPtr robot_
 underlying robot to find configurations for More...
 
CollisionAwareChainIKPtr ik_
 the ik_solver More...
 
CollisionManagerPtr cm_
 the collision manager to be used by the ik_solver More...
 
const std::string ee_
 end effector used by the ik_solver More...
 

Detailed Description

Given a robot it generates queries (IK solutions for a specific set of frames)

Definition at line 31 of file motionbuilder.h.

Member Enumeration Documentation

◆ QueryType

enum se2ez::MotionBuilder::QueryType

Type of the requested goal generation query.

Enumerator
NAMED 

genGoals() returns only Named

FRAME 

genGoals() returns only states found with IK

ALL 

genGoals() returns both of the above

Definition at line 38 of file motionbuilder.h.

Constructor & Destructor Documentation

◆ MotionBuilder() [1/4]

MotionBuilder::MotionBuilder ( const RobotPtr &  robot,
const std::string &  ee,
const std::vector< std::string > &  frames 
)

Constructor. Will generate queries for these samples.

Parameters
[in]robotRobot to generate the queries for
[in]eeEnd-effector to generate the queries for
[in]framesNames of frames to find ik solutions

MotionBuilder

Definition at line 22 of file motionbuilder.cpp.

◆ MotionBuilder() [2/4]

MotionBuilder::MotionBuilder ( const RobotPtr &  robot,
const std::string &  ee,
const std::string &  prefix 
)

Constructor.

Parameters
[in]robotRobot to generate the queries from
[in]eeEnd-effector to generate the queries for
[in]prefixprefixes of frames (e.g., to find ik solutions)

Definition at line 31 of file motionbuilder.cpp.

◆ MotionBuilder() [3/4]

se2ez::MotionBuilder::MotionBuilder ( const MotionBuilder &  )
delete

◆ MotionBuilder() [4/4]

se2ez::MotionBuilder::MotionBuilder ( MotionBuilder &&  )
delete

Member Function Documentation

◆ genAllGoals()

void MotionBuilder::genAllGoals ( )
private

Generates both Frame and Named Goals.

Definition at line 102 of file motionbuilder.cpp.

◆ genFrameGoals()

void MotionBuilder::genFrameGoals ( )
private

Generates goals by finding IK solutions of the ee on the given frames.

Definition at line 78 of file motionbuilder.cpp.

◆ genGoals()

const std::map< std::string, StatePtr > & MotionBuilder::genGoals ( QueryType  type)

generates the goals

Returns
A map of the frames used for the EE and the ik solutions (goals).

Definition at line 46 of file motionbuilder.cpp.

◆ genNamedGoals()

void MotionBuilder::genNamedGoals ( )
private

Generates goals from the named states.

Definition at line 93 of file motionbuilder.cpp.

◆ getQueries()

const std::set< std::pair< StatePtr, StatePtr > > & MotionBuilder::getQueries ( QueryType  type = ALL)

Gets the motion planning queries as (Start, Goal) pairs.

Returns
set of pairs of states.

Definition at line 64 of file motionbuilder.cpp.

Member Data Documentation

◆ cm_

CollisionManagerPtr se2ez::MotionBuilder::cm_
private

the collision manager to be used by the ik_solver

Definition at line 103 of file motionbuilder.h.

◆ ee_

const std::string se2ez::MotionBuilder::ee_
private

end effector used by the ik_solver

Definition at line 104 of file motionbuilder.h.

◆ ees_

std::set<std::string> se2ez::MotionBuilder::ees_
private

eeposes to place the end effector

Definition at line 99 of file motionbuilder.h.

◆ goals_

std::map<std::string, StatePtr> se2ez::MotionBuilder::goals_
private

Valid goals.

Definition at line 97 of file motionbuilder.h.

◆ ik_

CollisionAwareChainIKPtr se2ez::MotionBuilder::ik_
private

the ik_solver

Definition at line 102 of file motionbuilder.h.

◆ queries_

std::set<std::pair<StatePtr, StatePtr> > se2ez::MotionBuilder::queries_
private

valid motion planning queries (Start,Goal)

Definition at line 98 of file motionbuilder.h.

◆ robot_

RobotPtr se2ez::MotionBuilder::robot_
private

underlying robot to find configurations for

Definition at line 101 of file motionbuilder.h.

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