common_utils.cpp File Reference

#include "common_utils.h"
#include "trajectory_utils.h"
#include <ros/topic.h>
#include <eigen_conversions/eigen_msg.h>
#include <descartes_planner/dense_planner.h>
#include <descartes_planner/sparse_planner.h>
#include <descartes_trajectory/axial_symmetric_pt.h>
#include <moveit/kinematic_constraints/utils.h>
#include <moveit_msgs/GetMotionPlan.h>
#include <moveit_msgs/ApplyPlanningScene.h>
#include <moveit_msgs/GetPlanningScene.h>
#include <geometric_shapes/shape_operations.h>

Include dependency graph for common_utils.cpp:

Go to the source code of this file.

Functions
static double	calcDefaultTime (const std::vector< double > &a, const std::vector< double > &b, double max_joint_vel)

Variables
static const double	DEFAULT_ANGLE_DISCRETIZATION
static const std::string	DEFAULT_FRAME_ID
static const double	DEFAULT_JOINT_VELOCITY = 0.3
static const double	DEFAULT_JOINT_WAIT_TIME = 5.0
static const std::string	DEFAULT_MOVEIT_FRAME_ID = "world_frame"
static const int	DEFAULT_MOVEIT_NUM_PLANNING_ATTEMPTS = 30
static const std::string	DEFAULT_MOVEIT_PLANNER_ID = "RRTstar"
static const std::string	DEFAULT_MOVEIT_PLANNING_SERVICE_NAME = "plan_kinematic_path"
static const double	DEFAULT_MOVEIT_PLANNING_TIME = 20.0
static const double	DEFAULT_MOVEIT_VELOCITY_SCALING = 0.5
static const double	DEFAULT_TIME_UNDEFINED_VELOCITY
static const std::string	GET_PLANNER_PARAM_SERVICE = "get_planner_params"
static const std::string	GET_PLANNING_SCENE_SERVICE = "get_planning_scene"
static const int	RRT_WEIRD_SOL_NUM_THRESHOLD = 40

Function Documentation

static double calcDefaultTime ( const std::vector< double > &  a, const std::vector< double > &  b, double  max_joint_vel  )

static

Definition at line 96 of file common_utils.cpp.

Variable Documentation

const double DEFAULT_ANGLE_DISCRETIZATION

static

Initial value:

=
    M_PI / 12.0

Definition at line 34 of file common_utils.cpp.

const std::string DEFAULT_FRAME_ID

static

Initial value:

=
    "world_frame"

Definition at line 31 of file common_utils.cpp.

const double DEFAULT_JOINT_VELOCITY = 0.3

static

Definition at line 39 of file common_utils.cpp.

const double DEFAULT_JOINT_WAIT_TIME = 5.0

static

Definition at line 37 of file common_utils.cpp.

const std::string DEFAULT_MOVEIT_FRAME_ID = "world_frame"

static

Definition at line 46 of file common_utils.cpp.

const int DEFAULT_MOVEIT_NUM_PLANNING_ATTEMPTS = 30

static

Definition at line 42 of file common_utils.cpp.

const std::string DEFAULT_MOVEIT_PLANNER_ID = "RRTstar"

static

Definition at line 45 of file common_utils.cpp.

const std::string DEFAULT_MOVEIT_PLANNING_SERVICE_NAME = "plan_kinematic_path"

static

Definition at line 47 of file common_utils.cpp.

const double DEFAULT_MOVEIT_PLANNING_TIME = 20.0

static

Definition at line 43 of file common_utils.cpp.

const double DEFAULT_MOVEIT_VELOCITY_SCALING = 0.5

static

Definition at line 44 of file common_utils.cpp.

const double DEFAULT_TIME_UNDEFINED_VELOCITY

static

Initial value:

=
    0.0

Definition at line 28 of file common_utils.cpp.

const std::string GET_PLANNER_PARAM_SERVICE = "get_planner_params"

static

Definition at line 50 of file common_utils.cpp.

const std::string GET_PLANNING_SCENE_SERVICE = "get_planning_scene"

static

Definition at line 49 of file common_utils.cpp.

const int RRT_WEIRD_SOL_NUM_THRESHOLD = 40

static

Definition at line 53 of file common_utils.cpp.