#include "common_utils.h"#include <choreo_msgs/AssemblySequencePickNPlace.h>#include <choreo_msgs/ElementCandidatePoses.h>#include <eigen_conversions/eigen_msg.h>#include <choreo_descartes_planner/constrained_segment.h>#include <descartes_core/robot_model.h>#include <moveit/planning_scene/planning_scene.h>#include <Eigen/Geometry>
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Classes | |
| struct | choreo_process_planning::ConstrainedSegParameters |
Namespaces | |
| choreo_process_planning | |
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) |