descartes_planner Namespace Reference

Classes
struct	CapRung
class	CapsulatedLadderTreeRRTstar
class	CapVert
struct	ConstrainedSegment
struct	ConstrainedSegmentPickNPlace

Typedefs
typedef boost::function< double(const double *, const double *)>	CostFunction

Functions
void	appendInTime (LadderGraph &current, const LadderGraph &next)
bool	checkFeasibility (descartes_core::RobotModel &model, const std::vector< Eigen::Affine3d > &poses, descartes_planner::CapRung &cap_rung, descartes_planner::CapVert &cap_vert)
bool	checkFeasibilityPickNPlace (descartes_core::RobotModel &model, const std::vector< std::vector< Eigen::Affine3d >> &poses, descartes_planner::CapRung &cap_rung, descartes_planner::CapVert &cap_vert)
std::vector< Eigen::Vector3d >	discretizePositions (const Eigen::Vector3d &start, const Eigen::Vector3d &stop, const double ds)
bool	domainDiscreteEnumerationCheck (descartes_core::RobotModel &model, descartes_planner::CapRung &cap_rung, descartes_planner::CapVert &cap_vert)
LadderGraph	generateLadderGraphFromPoses (const descartes_core::RobotModel &model, const std::vector< Eigen::Affine3d > &ps, const double dt)
std::vector< Eigen::Affine3d >	generateSample (const descartes_planner::CapRung &cap_rung, descartes_planner::CapVert &cap_vert)
std::vector< std::vector< Eigen::Affine3d > >	generateSamplePickNPlace (const descartes_planner::CapRung &cap_rung, descartes_planner::CapVert &cap_vert)
Eigen::Affine3d	makePose (const Eigen::Vector3d &position, const Eigen::Matrix3d &orientation, const double z_axis_angle)
Eigen::Affine3d	makePose (const Eigen::Vector3d &position, const Eigen::Matrix3d &orientation)
double	randomSampleDouble (double lower, double upper)
int	randomSampleInt (int lower, int upper)
LadderGraph	sampleConstrainedPaths (const descartes_core::RobotModel &model, ConstrainedSegment &segment)
LadderGraph	sampleSingleConfig (const descartes_core::RobotModel &model, const std::vector< Eigen::Vector3d > &origins, const Eigen::Matrix3d &orientation, const double dt)
LadderGraph	sampleSingleConfig (const descartes_core::RobotModel &model, const std::vector< Eigen::Vector3d > &origins, const double dt, const Eigen::Matrix3d &orientation, const double z_axis_angle)

Typedef Documentation

typedef boost::function<double(const double*, const double*)> descartes_planner::CostFunction

Definition at line 9 of file choreo_ladder_graph_builder.cpp.

Function Documentation

void descartes_planner::appendInTime	(	LadderGraph &	current,
		const LadderGraph &	next
	)

Definition at line 190 of file choreo_ladder_graph_builder.cpp.

bool descartes_planner::checkFeasibility	(	descartes_core::RobotModel &	model,
		const std::vector< Eigen::Affine3d > &	poses,
		descartes_planner::CapRung &	cap_rung,
		descartes_planner::CapVert &	cap_vert
	)

Definition at line 10 of file pose_verification_helpers.cpp.

bool descartes_planner::checkFeasibilityPickNPlace	(	descartes_core::RobotModel &	model,
		const std::vector< std::vector< Eigen::Affine3d >> &	poses,
		descartes_planner::CapRung &	cap_rung,
		descartes_planner::CapVert &	cap_vert
	)

Definition at line 78 of file pose_verification_helpers.cpp.

std::vector< Eigen::Vector3d > descartes_planner::discretizePositions	(	const Eigen::Vector3d &	start,
		const Eigen::Vector3d &	stop,
		const double	ds
	)

Definition at line 11 of file pose_sampling_helpers.cpp.

bool descartes_planner::domainDiscreteEnumerationCheck	(	descartes_core::RobotModel &	model,
		descartes_planner::CapRung &	cap_rung,
		descartes_planner::CapVert &	cap_vert
	)

Definition at line 141 of file pose_verification_helpers.cpp.

LadderGraph descartes_planner::generateLadderGraphFromPoses	(	const descartes_core::RobotModel &	model,
		const std::vector< Eigen::Affine3d > &	ps,
		const double	dt
	)

Definition at line 54 of file choreo_ladder_graph_builder.cpp.

std::vector< Eigen::Affine3d > descartes_planner::generateSample	(	const descartes_planner::CapRung &	cap_rung,
		descartes_planner::CapVert &	cap_vert
	)

Definition at line 89 of file pose_sampling_helpers.cpp.

std::vector< std::vector< Eigen::Affine3d > > descartes_planner::generateSamplePickNPlace	(	const descartes_planner::CapRung &	cap_rung,
		descartes_planner::CapVert &	cap_vert
	)

Definition at line 125 of file pose_sampling_helpers.cpp.

Eigen::Affine3d descartes_planner::makePose	(	const Eigen::Vector3d &	position,
		const Eigen::Matrix3d &	orientation,
		const double	z_axis_angle
	)

Definition at line 35 of file pose_sampling_helpers.cpp.

Eigen::Affine3d descartes_planner::makePose	(	const Eigen::Vector3d &	position,
		const Eigen::Matrix3d &	orientation
	)

Definition at line 47 of file pose_sampling_helpers.cpp.

double descartes_planner::randomSampleDouble	(	double	lower,
		double	upper
	)

Definition at line 72 of file pose_sampling_helpers.cpp.

int descartes_planner::randomSampleInt	(	int	lower,
		int	upper
	)

Definition at line 56 of file pose_sampling_helpers.cpp.

LadderGraph descartes_planner::sampleConstrainedPaths	(	const descartes_core::RobotModel &	model,
		ConstrainedSegment &	segment
	)

Definition at line 147 of file choreo_ladder_graph_builder.cpp.

LadderGraph descartes_planner::sampleSingleConfig	(	const descartes_core::RobotModel &	model,
		const std::vector< Eigen::Vector3d > &	origins,
		const Eigen::Matrix3d &	orientation,
		const double	dt
	)

Definition at line 132 of file choreo_ladder_graph_builder.cpp.

LadderGraph descartes_planner::sampleSingleConfig	(	const descartes_core::RobotModel &	model,
		const std::vector< Eigen::Vector3d > &	origins,
		const double	dt,
		const Eigen::Matrix3d &	orientation,
		const double	z_axis_angle
	)

Definition at line 116 of file choreo_ladder_graph_builder.cpp.