C++ API

Class Hierarchy

• • Namespace pfield
    • Struct CollisionCatalogEntry
    • Struct MeshCollisionData
    • Struct PFLimits
    • Struct PlannedPath
    • Struct PotentialFieldObstacleHash
    • Struct TaskSpaceTwist
    • Struct TaskSpaceWrench
    • Struct WeightedIKResult
    • Class BoxGeometry
    • Class CapsuleGeometry
    • Class CylinderGeometry
    • Class EllipsoidGeometry
    • Class IKSolver
    • Class MeshGeometry
    • Class ObstacleGeometry
    • Class PFKinematics
    • Class PotentialField
    • Class PotentialFieldObstacle
    • Class SpatialVector
    • Class SphereGeometry
    • Class WeightedIKSolver
    • Class XArmIKSolver
    • Enum ObstacleGroup
    • Enum ObstacleType

File Hierarchy

• • Directory include
    • Directory pfield
      • File mesh_collision.hpp
      • File pf_kinematics.hpp
      • File pf_obstacle.hpp
      • File pf_obstacle_geometry.hpp
      • File pfield.hpp
      • File pfield_common.hpp
      • File spatial_vector.hpp
    • Directory solvers
      • File geofik.h
      • File ik_solver.hpp
      • File weighted_ik.h
      • File xarm_ik_solver.hpp

Full C++ API

Namespaces

• Namespace pfield

• Namespace std

• Namespace std::chrono

Classes and Structs

• Struct CollisionCatalogEntry

• Struct MeshCollisionData

• Struct PFLimits

• Struct PlannedPath

• Struct PotentialFieldObstacleHash

• Struct TaskSpaceTwist

• Struct TaskSpaceWrench

• Struct WeightedIKResult

• Class BoxGeometry

• Class CapsuleGeometry

• Class CylinderGeometry

• Class EllipsoidGeometry

• Class IKSolver

• Class MeshGeometry

• Class ObstacleGeometry

• Class PFKinematics

• Class PotentialField

• Class PotentialFieldObstacle

• Class SpatialVector

• Class SphereGeometry

• Class WeightedIKSolver

• Class XArmIKSolver

Enums

• Enum ObstacleGroup

• Enum ObstacleType

Functions

• Function pfield::approximateJointVelocities

• Function pfield::calculate_manipulability_weighted

• Function pfield::computeUnsignedDistanceToMesh

• Function pfield::createHashID

• Function pfield::dampedLeastSquares

• Function pfield::franka_fk

• Function pfield::franka_ik_q4

• Function pfield::franka_ik_q6

• Function pfield::franka_ik_q7

• Function pfield::franka_ik_swivel

• Function pfield::franka_J_ik_q4

• Function pfield::franka_J_ik_q6

• Function pfield::franka_J_ik_q7

• Function pfield::franka_J_ik_swivel

• Function pfield::franka_swivel

• Function pfield::getClosestPointOnMesh

• Function pfield::isPositiveFinite

• Function pfield::J_from_q

• Function pfield::J_to_q

• Function pfield::loadMesh

• Function pfield::obstacleGroupToString

• Function pfield::obstacleTypeToString

• Function pfield::pointInsideMesh

• Function pfield::print_weighted_ik_results

• Function pfield::rateLimitStep

• Function pfield::rotateVector

• Function pfield::setURIResolver

• Function pfield::softSaturateNorm

• Function pfield::stringToObstacleGroup

• Function pfield::stringToObstacleType

• Function pfield::urdfPoseToEigen

• Function pfield::weighted_ik_q7

Variables

• Variable pfield::DEFAULT_ATTRACTIVE_GAIN

• Variable pfield::DEFAULT_INFLUENCE_DISTANCE

• Variable pfield::DEFAULT_MAX_ANGULAR_ACCELERATION

• Variable pfield::DEFAULT_MAX_ANGULAR_VELOCITY

• Variable pfield::DEFAULT_MAX_LINEAR_ACCELERATION

• Variable pfield::DEFAULT_MAX_LINEAR_VELOCITY

• Variable pfield::DEFAULT_REPULSIVE_GAIN

• Variable pfield::DEFAULT_ROTATIONAL_ATTRACTIVE_GAIN

• Variable pfield::NEAR_ZERO_THRESHOLD

Typedefs

• Typedef pfield::URIResolver

Directories

• Directory include

• Directory pfield

• Directory solvers

Files

• File geofik.h

• File ik_solver.hpp

• File mesh_collision.hpp

• File pf_kinematics.hpp

• File pf_obstacle.hpp

• File pf_obstacle_geometry.hpp

• File pfield.hpp

• File pfield_common.hpp

• File spatial_vector.hpp

• File weighted_ik.h

• File xarm_ik_solver.hpp