#include <ros/ros.h>#include <Eigen/Geometry>#include <descartes_core/trajectory_pt.h>#include <descartes_core/robot_model.h>#include <sensor_msgs/JointState.h>#include <moveit_msgs/CollisionObject.h>#include <moveit_msgs/AttachedCollisionObject.h>#include <geometry_msgs/PoseArray.h>#include <geometry_msgs/Point.h>
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Namespaces | |
| choreo_process_planning | |
Typedefs | |
| typedef std::vector< descartes_core::TrajectoryPtPtr > | choreo_process_planning::DescartesTraj |
Functions | |
| bool | choreo_process_planning::addCollisionObject (ros::ServiceClient &planning_scene, const moveit_msgs::CollisionObject &c_obj) |
| moveit_msgs::AttachedCollisionObject | choreo_process_planning::addFullEndEffectorCollisionObject (bool is_add) |
| void | choreo_process_planning::appendTrajectoryHeaders (const trajectory_msgs::JointTrajectory &orig_traj, trajectory_msgs::JointTrajectory &traj, const double sim_time_scale=0.0) |
| bool | choreo_process_planning::clearAllCollisionObjects (ros::ServiceClient &planning_scene) |
| DescartesTraj | choreo_process_planning::createJointPath (const std::vector< double > &start, const std::vector< double > &stop, double dtheta=M_PI/180.0) |
| Eigen::Affine3d | choreo_process_planning::createNominalTransform (const geometry_msgs::Pose &ref_pose, const geometry_msgs::Point &pt) |
| Eigen::Affine3d | choreo_process_planning::createNominalTransform (const geometry_msgs::Pose &ref_pose, const double z_adjust=0.0) |
| Eigen::Affine3d | choreo_process_planning::createNominalTransform (const Eigen::Affine3d &ref_pose, const double z_adjust=0.0) |
| static std::vector< double > | choreo_process_planning::extractJoints (const descartes_core::RobotModel &model, const descartes_core::TrajectoryPt &pt) |
| void | choreo_process_planning::fillTrajectoryHeaders (const std::vector< std::string > &joints, trajectory_msgs::JointTrajectory &traj, const std::string world_frame) |
| double | choreo_process_planning::freeSpaceCostFunction (const std::vector< double > &source, const std::vector< double > &target) |
| std::vector< double > | choreo_process_planning::getCurrentJointState (const std::string &topic) |
| trajectory_msgs::JointTrajectory | choreo_process_planning::getMoveitPlan (const std::string &group_name, const std::vector< double > &joints_start, const std::vector< double > &joints_stop, moveit::core::RobotModelConstPtr model) |
| trajectory_msgs::JointTrajectory | choreo_process_planning::getMoveitTransitionPlan (const std::string &group_name, const std::vector< double > &joints_start, const std::vector< double > &joints_stop, const std::vector< double > &initial_pose, moveit::core::RobotModelConstPtr model, const bool force_insert_reset=false) |
| trajectory_msgs::JointTrajectory | choreo_process_planning::planFreeMove (descartes_core::RobotModel &model, const std::string &group_name, moveit::core::RobotModelConstPtr moveit_model, const std::vector< double > &start, const std::vector< double > &stop) |
| trajectory_msgs::JointTrajectory | choreo_process_planning::toROSTrajectory (const DescartesTraj &solution, const descartes_core::RobotModel &model) |
| trajectory_msgs::JointTrajectory | choreo_process_planning::toROSTrajectory (const std::vector< std::vector< double >> &solution, const descartes_core::RobotModel &model) |