generate_motion_plan.cpp File Reference

#include "generate_motion_plan.h"
#include "trajectory_utils.h"
#include "path_transitions.h"
#include "common_utils.h"
#include "construct_planning_scene.h"
#include "semi_constrained_cartesian_planning.h"
#include <eigen_conversions/eigen_msg.h>
#include <geometry_msgs/Pose.h>
#include <trajectory_msgs/JointTrajectoryPoint.h>
#include <choreo_msgs/SubProcess.h>
#include <choreo_msgs/ElementCandidatePoses.h>
#include <choreo_msgs/WireFrameCollisionObject.h>
#include <choreo_msgs/AssemblySequencePickNPlace.h>
#include <choreo_msgs/SequencedElement.h>
#include <shape_msgs/Mesh.h>
#include <moveit_msgs/PlanningScene.h>
#include <moveit_msgs/ApplyPlanningScene.h>
#include <ros/console.h>
#include <Eigen/Geometry>
#include <boost/filesystem.hpp>

Include dependency graph for generate_motion_plan.cpp:

Go to the source code of this file.

Namespaces
	choreo_process_planning

Functions
void	choreo_process_planning::adjustTrajectoryTiming (std::vector< choreo_msgs::UnitProcessPlan > &plans, const std::vector< std::string > &joint_names, const std::string world_frame)
void	choreo_process_planning::appendTCPPoseToPlans (const descartes_core::RobotModelPtr model, const std::vector< planning_scene::PlanningScenePtr > &planning_scenes_shrinked, const std::vector< planning_scene::PlanningScenePtr > &planning_scenes_full, std::vector< choreo_msgs::UnitProcessPlan > &plans)
void	choreo_process_planning::appendTCPPoseToPlansPickNPlace (const descartes_core::RobotModelPtr model, const std::vector< std::vector< planning_scene::PlanningScenePtr >> &planning_scenes_transition, const std::vector< std::vector< planning_scene::PlanningScenePtr >> &planning_scenes_subprocess, std::vector< choreo_msgs::UnitProcessPlan > &plans)
bool	choreo_process_planning::generateMotionPlan (const std::string world_frame, const bool use_saved_graph, const std::string &saved_graph_file_name, const double clt_rrt_unit_process_timeout, const double clt_rrt_timeout, const std::string &move_group_name, const std::vector< double > &start_state, const std::vector< choreo_msgs::ElementCandidatePoses > &task_seq, const std::vector< choreo_msgs::WireFrameCollisionObject > &wf_collision_objs, std::vector< descartes_planner::ConstrainedSegment > &segs, descartes_core::RobotModelPtr model, moveit::core::RobotModelConstPtr moveit_model, ros::ServiceClient &planning_scene_diff_client, std::vector< choreo_msgs::UnitProcessPlan > &plans)
bool	choreo_process_planning::generateMotionPlan (const std::string world_frame, const bool use_saved_graph, const std::string &saved_graph_file_name, const double clt_rrt_unit_process_timeout, const double clt_rrt_timeout, const double &linear_vel, const double &linear_disc, const std::string &move_group_name, const std::vector< double > &start_state, const choreo_msgs::AssemblySequencePickNPlace &as_pnp, descartes_core::RobotModelPtr model, moveit::core::RobotModelConstPtr moveit_model, ros::ServiceClient &planning_scene_diff_client, std::vector< choreo_msgs::UnitProcessPlan > &plans)
void	choreo_process_planning::retractionPlanning (descartes_core::RobotModelPtr model, const std::vector< planning_scene::PlanningScenePtr > &planning_scenes_approach, const std::vector< planning_scene::PlanningScenePtr > &planning_scenes_depart, const std::vector< descartes_planner::ConstrainedSegment > &segs, std::vector< choreo_msgs::UnitProcessPlan > &plans)
void	choreo_process_planning::transitionPlanning (std::vector< choreo_msgs::UnitProcessPlan > &plans, moveit::core::RobotModelConstPtr moveit_model, ros::ServiceClient &planning_scene_diff_client, const std::string &move_group_name, const std::vector< double > &start_state, std::vector< planning_scene::PlanningScenePtr > &planning_scenes)
void	choreo_process_planning::transitionPlanningPickNPlace (std::vector< choreo_msgs::UnitProcessPlan > &plans, moveit::core::RobotModelConstPtr moveit_model, ros::ServiceClient &planning_scene_diff_client, const std::string &move_group_name, const std::vector< double > &start_state, const std::vector< std::vector< planning_scene::PlanningScenePtr >> &planning_scenes)

Variables
static const int	TRANSITION_PLANNING_LOOP_COUNT = 5

Variable Documentation

const int TRANSITION_PLANNING_LOOP_COUNT = 5

static

Definition at line 37 of file generate_motion_plan.cpp.