path_transitions.cpp File Reference

#include "path_transitions.h"
#include "trajectory_utils.h"
#include <choreo_descartes_planner/pose_sampling_helpers.h>
#include <descartes_planner/ladder_graph.h>
#include <choreo_descartes_planner/choreo_ladder_graph_builder.h>
#include <descartes_planner/planning_graph_edge_policy.h>
#include <descartes_planner/ladder_graph_dag_search.h>
#include <rviz_visual_tools/rviz_visual_tools.h>
#include <geometry_msgs/Vector3.h>
#include <eigen_conversions/eigen_msg.h>
#include <Eigen/Geometry>

Include dependency graph for path_transitions.cpp:

Go to the source code of this file.

Namespaces
	choreo_process_planning
	descartes_planner

Typedefs
typedef boost::function< double(const double *, const double *)>	descartes_planner::CostFunction

Functions
bool	choreo_process_planning::retractPath (const std::vector< double > &start_joint, double retract_dist, double TCP_speed, const std::vector< Eigen::Matrix3d > &eef_directions, descartes_core::RobotModelPtr &model, std::vector< std::vector< double >> &retract_jt_traj)
std::vector< descartes_planner::ConstrainedSegmentPickNPlace >	choreo_process_planning::toDescartesConstrainedPath (const choreo_msgs::AssemblySequencePickNPlace &as_pnp, const std::vector< std::vector< planning_scene::PlanningScenePtr >> &planning_scene_subprocess, const double &linear_vel, const double &linear_disc)
std::vector< descartes_planner::ConstrainedSegment >	choreo_process_planning::toDescartesConstrainedPath (const std::vector< choreo_msgs::ElementCandidatePoses > &task_sequence, const ConstrainedSegParameters &seg_params)
std::vector< descartes_planner::ConstrainedSegment >	choreo_process_planning::toDescartesConstrainedPath (const std::vector< choreo_msgs::ElementCandidatePoses > &task_sequence, const double &linear_vel, const double &linear_disc, const double &angular_disc, const double &retract_dist)

Variables
static const double	JTS_DISC_DELTA = 0.01
static const double	MIN_RETRACTION_DIST = 0.003
static const double	RETRACT_OFFSET_SAMPLE_TIMEOUT = 5.0

Variable Documentation

const double JTS_DISC_DELTA = 0.01

static

Definition at line 27 of file path_transitions.cpp.

const double MIN_RETRACTION_DIST = 0.003

static

Definition at line 29 of file path_transitions.cpp.

const double RETRACT_OFFSET_SAMPLE_TIMEOUT = 5.0

static

Definition at line 28 of file path_transitions.cpp.