#include <descartes_core/robot_model.h>#include <choreo_descartes_planner/constrained_segment.h>#include <choreo_msgs/UnitProcessPlan.h>#include <choreo_msgs/ElementCandidatePoses.h>#include <choreo_msgs/WireFrameCollisionObject.h>#include <choreo_msgs/AssemblySequencePickNPlace.h>#include <moveit_msgs/CollisionObject.h>
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Namespaces | |
| choreo_process_planning | |
Functions | |
| void | choreo_process_planning::adjustTrajectoryTiming (std::vector< choreo_msgs::UnitProcessPlan > &plans, const std::vector< std::string > &joint_names, const std::string world_frame) |
| void | choreo_process_planning::appendTCPPoseToPlans (const descartes_core::RobotModelPtr model, const std::vector< planning_scene::PlanningScenePtr > &planning_scenes_shrinked, const std::vector< planning_scene::PlanningScenePtr > &planning_scenes_full, std::vector< choreo_msgs::UnitProcessPlan > &plans) |
| bool | choreo_process_planning::generateMotionPlan (const std::string world_frame, const bool use_saved_graph, const std::string &saved_graph_file_name, const double clt_rrt_unit_process_timeout, const double clt_rrt_timeout, const std::string &move_group_name, const std::vector< double > &start_state, const std::vector< choreo_msgs::ElementCandidatePoses > &task_seq, const std::vector< choreo_msgs::WireFrameCollisionObject > &wf_collision_objs, std::vector< descartes_planner::ConstrainedSegment > &segs, descartes_core::RobotModelPtr model, moveit::core::RobotModelConstPtr moveit_model, ros::ServiceClient &planning_scene_diff_client, std::vector< choreo_msgs::UnitProcessPlan > &plans) |
| bool | choreo_process_planning::generateMotionPlan (const std::string world_frame, const bool use_saved_graph, const std::string &saved_graph_file_name, const double clt_rrt_unit_process_timeout, const double clt_rrt_timeout, const double &linear_vel, const double &linear_disc, const std::string &move_group_name, const std::vector< double > &start_state, const choreo_msgs::AssemblySequencePickNPlace &as_pnp, descartes_core::RobotModelPtr model, moveit::core::RobotModelConstPtr moveit_model, ros::ServiceClient &planning_scene_diff_client, std::vector< choreo_msgs::UnitProcessPlan > &plans) |
| void | choreo_process_planning::retractionPlanning (descartes_core::RobotModelPtr model, const std::vector< planning_scene::PlanningScenePtr > &planning_scenes_approach, const std::vector< planning_scene::PlanningScenePtr > &planning_scenes_depart, const std::vector< descartes_planner::ConstrainedSegment > &segs, std::vector< choreo_msgs::UnitProcessPlan > &plans) |
| void | choreo_process_planning::transitionPlanning (std::vector< choreo_msgs::UnitProcessPlan > &plans, moveit::core::RobotModelConstPtr moveit_model, ros::ServiceClient &planning_scene_diff_client, const std::string &move_group_name, const std::vector< double > &start_state, std::vector< planning_scene::PlanningScenePtr > &planning_scenes) |