Class DistancePenaltyMoveIt

Inheritance Relationships

Base Type

  • public reach::Evaluator

Class Documentation

class DistancePenaltyMoveIt : public reach::Evaluator

Public Functions

DistancePenaltyMoveIt(moveit::core::RobotModelConstPtr model, const std::string &planning_group, const double dist_threshold, int exponent)
virtual double calculateScore(const std::map<std::string, double> &pose) const override
void addCollisionMesh(const std::string &collision_mesh_filename, const std::string &collision_mesh_frame)
void setTouchLinks(const std::vector<std::string> &touch_links)

Protected Attributes

moveit::core::RobotModelConstPtr model_
const moveit::core::JointModelGroup *jmg_
const double dist_threshold_
const int exponent_
planning_scene::PlanningScenePtr scene_

Protected Static Attributes

static std::string COLLISION_OBJECT_NAME