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43 #include <boost/assert.hpp>
95 class CartesianInterpolator
130 std::vector<std::shared_ptr<RobotState>>& traj,
const LinkModel* link,
131 const Eigen::Vector3d& translation,
bool global_reference_frame,
const MaxEEFStep& max_step,
132 const JumpThreshold& jump_threshold,
142 std::vector<std::shared_ptr<RobotState>>& traj,
const LinkModel* link,
144 const MaxEEFStep& max_step,
const JumpThreshold& jump_threshold,
149 jump_threshold, validCallback, options);
160 std::vector<std::shared_ptr<RobotState>>& traj,
const LinkModel* link,
161 const Eigen::Isometry3d& target,
bool global_reference_frame,
const MaxEEFStep& max_step,
165 const Eigen::Isometry3d& link_offset = Eigen::Isometry3d::Identity());
175 std::vector<std::shared_ptr<RobotState>>& traj,
const LinkModel* link,
180 const Eigen::Isometry3d& link_offset = Eigen::Isometry3d::Identity());
215 std::vector<std::shared_ptr<RobotState>>& traj,
216 double jump_threshold_factor);
233 std::vector<std::shared_ptr<RobotState>>& traj,
234 double revolute_jump_threshold,
double prismatic_jump_threshold);
A link from the robot. Contains the constant transform applied to the link and its geometry.
boost::function< bool(RobotState *robot_state, const JointModelGroup *joint_group, const double *joint_group_variable_values)> GroupStateValidityCallbackFn
Signature for functions that can verify that if the group joint_group in robot_state is set to joint_...
std::vector< Eigen::Isometry3d, Eigen::aligned_allocator< Eigen::Isometry3d > > vector_Isometry3d
Struct for containing jump_threshold.
static double computeCartesianPath(RobotState *start_state, const JointModelGroup *group, std::vector< std::shared_ptr< RobotState >> &traj, const LinkModel *link, const Eigen::Vector3d &translation, bool global_reference_frame, const MaxEEFStep &max_step, const JumpThreshold &jump_threshold, const GroupStateValidityCallbackFn &validCallback=GroupStateValidityCallbackFn(), const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions())
Compute the sequence of joint values that correspond to a straight Cartesian path for a particular li...
static double checkRelativeJointSpaceJump(const JointModelGroup *group, std::vector< std::shared_ptr< RobotState >> &traj, double jump_threshold_factor)
Tests for relative joint space jumps of the trajectory traj.
MaxEEFStep(double translation, double rotation)
Representation of a robot's state. This includes position, velocity, acceleration and effort.
Struct for containing max_step for computeCartesianPath.
static double checkJointSpaceJump(const JointModelGroup *group, std::vector< std::shared_ptr< RobotState >> &traj, const JumpThreshold &jump_threshold)
Tests joint space jumps of a trajectory.
static double checkAbsoluteJointSpaceJump(const JointModelGroup *group, std::vector< std::shared_ptr< RobotState >> &traj, double revolute_jump_threshold, double prismatic_jump_threshold)
Tests for absolute joint space jumps of the trajectory traj.
Main namespace for MoveIt.
A set of options for the kinematics solver.
double distance(const urdf::Pose &transform)
Vec3fX< details::Vec3Data< double > > Vector3d
moveit_core
Author(s): Ioan Sucan
, Sachin Chitta , Acorn Pooley
autogenerated on Thu Apr 18 2024 02:23:40