Cartesian path planner for moveit. More...
#include <moveit/planning_interface/planning_interface.h>#include <moveit/planning_scene/planning_scene.h>#include <constrained_ik/moveit_interface/constrained_ik_planning_context.h>#include <boost/atomic.hpp>#include <constrained_ik/constrained_ik.h>
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Classes | |
| class | constrained_ik::CartesianPlanner |
| Cartesian path planner for moveit. More... | |
Detailed Description
Cartesian path planner for moveit.
This class is used to represent a cartesian path planner for moveit. It finds a straight line path between the start and goal position. This planner does not have the inherent ability to avoid collision. It does check if the path created is collision free before it returns a trajectory. If a collision is found it returns an empty trajectory and moveit error.
- Date:
- May 4, 2015
- Version:
- TODO
- Bug:
- No known bugs
- Copyright:
- Copyright (c) 2015, Southwest Research Institute
- License
- Software License Agreement (Apache License)
- Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
- Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
Definition in file cartesian_planner.h.