Namespaces | |
| namespace | detail |
| namespace | PlannerErrors |
| namespace | utils |
Classes | |
| struct | Frame |
| Frame is a wrapper for an affine frame transform. Frame inverse can also be stored for increased speed in downstream calculations. More... | |
| class | PathPlannerBase |
| class | RobotModel |
| RobotModel defines the interface to a kinematics/dynamics functions. Implementations of this class will be used in conjunction with TrajectoryPt objects to determine forward and inverse kinematics. More... | |
| struct | TimingConstraint |
| A window of time for this point to be achieved relative to a previous point or the starting position. More... | |
| class | TrajectoryID_ |
| TrajectoryID_ represents a unique id to be associated with a TrajectoryPt. More... | |
| class | TrajectoryPt |
Typedefs | |
| typedef std::map< std::string, std::string > | PlannerConfig |
| typedef PlannerErrors::PlannerError | PlannerError |
| typedef TrajectoryID_< uint64_t > | TrajectoryID |
Functions | |
| DESCARTES_CLASS_FORWARD (RobotModel) | |
| DESCARTES_CLASS_FORWARD (PathPlannerBase) | |
| DESCARTES_CLASS_FORWARD (TrajectoryPt) | |
| A TrajectoryPt is the basis for a Trajectory describing the desired path a robot should execute. The desired robot motion spans both Cartesian and Joint space, and so the TrajectoryPt must have capability to report on both these properties. | |
| template<typename T > | |
| bool | operator!= (TrajectoryID_< T > lhs, TrajectoryID_< T > rhs) |
| template<typename T > | |
| bool | operator< (TrajectoryID_< T > lhs, TrajectoryID_< T > rhs) |
| template<typename T > | |
| std::ostream & | operator<< (std::ostream &os, TrajectoryID_< T > id) |
| template<typename T > | |
| bool | operator== (TrajectoryID_< T > lhs, TrajectoryID_< T > rhs) |
| typedef std::map<std::string,std::string> descartes_core::PlannerConfig |
Definition at line 40 of file path_planner_base.h.
Definition at line 38 of file path_planner_base.h.
| typedef TrajectoryID_<uint64_t> descartes_core::TrajectoryID |
Definition at line 143 of file trajectory_id.h.
| descartes_core::DESCARTES_CLASS_FORWARD | ( | RobotModel | ) |
| descartes_core::DESCARTES_CLASS_FORWARD | ( | PathPlannerBase | ) |
| descartes_core::DESCARTES_CLASS_FORWARD | ( | TrajectoryPt | ) |
A TrajectoryPt is the basis for a Trajectory describing the desired path a robot should execute. The desired robot motion spans both Cartesian and Joint space, and so the TrajectoryPt must have capability to report on both these properties.
In practice, an application will create a series of process points, and use these process points to create a Trajectory that can be solved for a robot path. In order to implement this easily, each process point should keep track of the TrajectoryPt id, and provide an interpolation method between points.
| bool descartes_core::operator!= | ( | TrajectoryID_< T > | lhs, |
| TrajectoryID_< T > | rhs | ||
| ) | [inline] |
Definition at line 125 of file trajectory_id.h.
| bool descartes_core::operator< | ( | TrajectoryID_< T > | lhs, |
| TrajectoryID_< T > | rhs | ||
| ) | [inline] |
Definition at line 131 of file trajectory_id.h.
| std::ostream& descartes_core::operator<< | ( | std::ostream & | os, |
| TrajectoryID_< T > | id | ||
| ) | [inline] |
Definition at line 137 of file trajectory_id.h.
| bool descartes_core::operator== | ( | TrajectoryID_< T > | lhs, |
| TrajectoryID_< T > | rhs | ||
| ) | [inline] |
Definition at line 119 of file trajectory_id.h.