Class ManipulabilityMoveIt

Defined in File manipulability_moveit.h

Inheritance Relationships

Base Type

public reach::Evaluator

Derived Types

public reach_ros::evaluation::ManipulabilityRatio (Class ManipulabilityRatio)
public reach_ros::evaluation::ManipulabilityScaled (Class ManipulabilityScaled)

Class Documentation

class ManipulabilityMoveIt : public reach::Evaluator 

Subclassed by reach_ros::evaluation::ManipulabilityRatio, reach_ros::evaluation::ManipulabilityScaled

Public Functions

ManipulabilityMoveIt(moveit::core::RobotModelConstPtr model, const std::string &planning_group, std::vector<Eigen::Index> jacobian_row_subset)

virtual double calculateScore(const std::map<std::string, double> &pose) const override

Protected Functions

virtual double calculateScore(const Eigen::MatrixXd &jacobian_singular_values) const

Protected Attributes

moveit::core::RobotModelConstPtr model_

const moveit::core::JointModelGroup *jmg_

const std::vector<Eigen::Index> jacobian_row_subset_