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FinalPoseProblem Class Reference
Collaboration diagram for FinalPoseProblem:

Public Member Functions

function FinalPoseProblem (robot, endEffectorId, xStart, xGoal, additionalConstraints, goalConstraints, qNom, varargin)
 
function findFinalPose (obj, options)
 
function searchFinalPose (obj, xStart, xGoal)
 
function pruneCapabilityMap (obj, sagittalAngle, transverseAngle, sagittalWeight, transverseWeight, reachabilityWeight)
 

Public Attributes

Property robot
 
Property endEffectorId
 
Property xStart
 
Property xGoal
 
Property additionalConstraints
 
Property goalConstraints
 
Property qNom
 
Property endEffectorPoint
 
Property minDistance
 
Property capabilityMap
 
Property graspingHand
 
Property activeCollisionOptions
 
Property jointSpaceTree
 
Constant Property SUCCESS
 
Constant Property FAIL_NO_FINAL_POSE
 

Constructor & Destructor Documentation

function FinalPoseProblem ( robot  ,
endEffectorId  ,
xStart  ,
xGoal  ,
additionalConstraints  ,
goalConstraints  ,
qNom  ,
varargin   
)
Return values
obj

Member Function Documentation

function findFinalPose ( obj  ,
options   
)
Return values
xGoal
info
function pruneCapabilityMap ( obj  ,
sagittalAngle  ,
transverseAngle  ,
sagittalWeight  ,
transverseWeight  ,
reachabilityWeight   
)
Return values
obj
function searchFinalPose ( obj  ,
xStart  ,
xGoal   
)
Return values
qOpt
cost

Member Data Documentation

Property activeCollisionOptions
Property additionalConstraints
Property capabilityMap
Property endEffectorId
Property endEffectorPoint
Constant Property FAIL_NO_FINAL_POSE
Property goalConstraints
Property graspingHand
Property jointSpaceTree
Property minDistance
Property qNom
Property robot
Constant Property SUCCESS
Property xGoal
Property xStart

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