Class ReachVisualizer

Defined in File reach_visualizer.h

Class Documentation

class ReachVisualizer

The ReachVisualizer class displays the results of the reach study and provides an interface for visualizing the robot’s work area from a given pose, and recalculating the IK solution at a given target pose.

Public Types

using Ptr = boost::shared_ptr<ReachVisualizer>

Public Functions

ReachVisualizer(ReachResult result, IKSolver::ConstPtr solver, Evaluator::ConstPtr evaluator, Display::ConstPtr display, const double neighbor_radius)

void reSolveIK(const std::size_t record_idx)

void showResult(const std::size_t record_idx) const

void showSeed(const std::size_t record_idx) const

void reachNeighbors(const std::size_t record_idx, const bool recursive = false) const

Protected Attributes

ReachResult result_

IKSolver::ConstPtr solver_

Evaluator::ConstPtr evaluator_

Display::ConstPtr display_

SearchTreePtr search_tree_ = nullptr

double neighbor_radius_