#include <moveit/ompl_interface/ompl_interface.h>
#include <moveit/ompl_interface/detail/constraints_library.h>
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/profiler/profiler.h>
#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
#include <moveit/robot_state/conversions.h>
#include <moveit/kinematic_constraints/utils.h>
#include <moveit/utils/message_checks.h>
#include <boost/math/constants/constants.hpp>
#include <sstream>

Include dependency graph for generate_state_database.cpp:

Classes
struct	GenerateStateDatabaseParameters

Functions
void	computeDB (const planning_scene::PlanningScenePtr &scene, struct GenerateStateDatabaseParameters &params)

int	main (int argc, char **argv)

Variables
static const std::string	CONSTRAINT_PARAMETER = "constraints"

constexpr char	LOGNAME [] = "generate_state_database"

static const std::string	ROBOT_DESCRIPTION = "robot_description"

Function Documentation

◆ computeDB()

void computeDB	(	const planning_scene::PlanningScenePtr &	scene,
		struct GenerateStateDatabaseParameters &	params
	)

Definition at line 118 of file generate_state_database.cpp.

◆ main()

int main	(	int	argc,
		char **	argv
	)

Generates a database of states that follow the given constraints. An example of the constraint yaml that should be loaded to rosparam: "name: tool0_upright constraints: