Classes
class	AggregationBoundsViolationException

class	AggregationException
	A base class for all aggregation exceptions inheriting from std::runtime_exception. More...

class	CartesianLimit
	Set os cartesian limits, has values for velocity, acceleration and deceleration of both the translational and rotational part. More...

class	CartesianLimitsAggregator
	Obtains cartesian limits from the parameter server. More...

struct	CartesianTrajectory

struct	CartesianTrajectoryPoint

class	CommandPlanner
	Moveit Plugin for Planning with Standart Robot Commands This planner is dedicated to return a instance of PlanningContext that corresponds to the requested motion command set as planner_id in the MotionPlanRequest). It can be easily extended with additional commands by creating a class inherting from PlanningContextLoader. More...

class	ContextLoaderRegistrationException

class	JointLimitsAggregator
	Unifies the joint limits from the given joint models with joint limits from the parameter server. More...

class	JointLimitsContainer
	Container for JointLimits, essentially a map with convenience functions. Adds the ability to as for limits and get a common limit that unifies all given limits. More...

class	JointLimitsValidator
	Validates the equality of all limits inside a container. More...

class	LimitsContainer
	This class combines CartesianLimit and JointLimits into on single class. More...

class	PathCircleGenerator
	Generator class for KDL::Path_Circle from different circle representations. More...

class	PlanningContextBase
	PlanningContext for obtaining trajectories. More...

class	PlanningContextCIRC
	PlanningContext for obtaining CIRC trajectories. More...

class	PlanningContextLIN
	PlanningContext for obtaining LIN trajectories. More...

class	PlanningContextLoader
	Base class for all PlanningContextLoaders. Since planning_interface::PlanningContext has a non empty ctor classes derived from it can not be plugins. This class serves as base class for wrappers. More...

class	PlanningContextLoaderCIRC
	Plugin that can generate instances of PlanningContextCIRC. Generates instances of PlanningContextLIN. More...

class	PlanningContextLoaderLIN
	Plugin that can generate instances of PlanningContextLIN. Generates instances of PlanningContextLIN. More...

class	PlanningContextLoaderPTP
	Plugin that can generate instances of PlanningContextPTP. Generates instances of PlanningContextPTP. More...

class	PlanningContextPTP
	PlanningContext for obtaining PTP trajectories. More...

class	PlanningException
	A base class for all pilz_planners exceptions inheriting from std::runtime_exception. More...

class	TrajectoryBlender
	Base class of trajectory blenders. More...

class	TrajectoryBlenderTransitionWindow
	Trajectory blender implementing transition window algorithm. More...

struct	TrajectoryBlendRequest

struct	TrajectoryBlendResponse

class	TrajectoryGenerator
	Base class of trajectory generators. More...

class	TrajectoryGeneratorCIRC
	This class implements a trajectory generator of arcs in Cartesian space. The arc is specified by a start pose, a goal pose and a interim point on the arc, or a point as the center of the circle which forms the arc. Complete circle is not covered by this generator. More...

class	TrajectoryGeneratorLIN
	This class implements a linear trajectory generator in Cartesian space. The Cartesian trajetory are based on trapezoid velocity profile. More...

class	TrajectoryGeneratorPTP
	This class implements a point-to-point trajectory generator based on VelocityProfile_ATrap. More...

class	ValidationBoundsViolationException
	Thrown when the limits from the param server are weaker than the ones obtained from the urdf. More...

class	ValidationDifferentLimitsException
	Thrown when the limits differ. More...

class	ValidationException
	A base class for all validations exceptions inheriting from std::runtime_exception. More...

class	ValidationJointMissingException
	Thrown the limits for a joint are defined in the urdf but not on the parameter server (loaded from yaml) More...

class	VelocityProfile_ATrap
	A PTP Trajectory Generator of Asymmetric Trapezoidal Velocity Profile. Differences to VelocityProfile_Trap: More...

Typedefs
typedef boost::shared_ptr< const PlanningContextLoaderCIRC >	PlanningContextLoaderCIRCConstPtr

typedef boost::shared_ptr< PlanningContextLoaderCIRC >	PlanningContextLoaderCIRCPtr

typedef boost::shared_ptr< const PlanningContextLoader >	PlanningContextLoaderConstPtr

typedef boost::shared_ptr< const PlanningContextLoaderLIN >	PlanningContextLoaderLINConstPtr

typedef boost::shared_ptr< PlanningContextLoaderLIN >	PlanningContextLoaderLINPtr

typedef boost::shared_ptr< const PlanningContextLoaderPTP >	PlanningContextLoaderPTPConstPtr

typedef boost::shared_ptr< PlanningContextLoaderPTP >	PlanningContextLoaderPTPPtr

typedef boost::shared_ptr< PlanningContextLoader >	PlanningContextLoaderPtr

typedef std::unique_ptr< TrajectoryBlender >	TrajectoryBlenderUniquePtr

Functions
bool	computeLinkFK (const robot_model::RobotModelConstPtr &robot_model, const std::string &link_name, const std::map< std::string, double > &joint_state, Eigen::Affine3d &pose)
	compute the pose of a link at give robot state More...

bool	computeLinkFK (const robot_model::RobotModelConstPtr &robot_model, const std::string &link_name, const std::vector< std::string > &joint_names, const std::vector< double > &joint_positions, Eigen::Affine3d &pose)

bool	computePoseIK (const robot_model::RobotModelConstPtr &robot_model, const std::string &group_name, const std::string &link_name, const Eigen::Affine3d &pose, const std::string &frame_id, const std::map< std::string, double > &seed, std::map< std::string, double > &solution, bool check_self_collision=true, int max_attempt=10, const double timeout=0.1)
	compute the inverse kinematics of a given pose, also check robot self collision More...

bool	computePoseIK (const robot_model::RobotModelConstPtr &robot_model, const std::string &group_name, const std::string &link_name, const geometry_msgs::Pose &pose, const std::string &frame_id, const std::map< std::string, double > &seed, std::map< std::string, double > &solution, bool check_self_collision=true, int max_attempt=10, const double timeout=0.1)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (CircleNoPlane, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (CircleToSmall, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (PtpVelocityProfileSyncFailed, moveit_msgs::MoveItErrorCodes::FAILURE)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (CenterPointDifferentRadius, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (LinTrajectoryConversionFailure, moveit_msgs::MoveItErrorCodes::FAILURE)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (PtpNoIkSolutionForGoalPose, moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (CircTrajectoryConversionFailure, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (UnknownPathConstraintName, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (JointNumberMismatch, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NoPositionConstraints, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (LinJointMissingInStartState, moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (LinInverseForGoalIncalculable, moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NoPrimitivePose, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (UnknownLinkNameOfAuxiliaryPoint, moveit_msgs::MoveItErrorCodes::INVALID_LINK_NAME)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (TrajectoryGeneratorInvalidLimitsException, moveit_msgs::MoveItErrorCodes::FAILURE)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NumberOfConstraintsMismatch, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (CircJointMissingInStartState, moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (VelocityScalingIncorrect, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (AccelerationScalingIncorrect, moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (CircInverseForGoalIncalculable, moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (UnknownPlanningGroup, moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NoJointNamesInStartState, moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (SizeMismatchInStartState, moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (JointsOfStartStateOutOfRange, moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NonZeroVelocityInStartState, moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NotExactlyOneGoalConstraintGiven, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (OnlyOneGoalTypeAllowed, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (StartStateGoalStateMismatch, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (JointConstraintDoesNotBelongToGroup, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (JointsOfGoalOutOfRange, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (PositionConstraintNameMissing, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (OrientationConstraintNameMissing, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (PositionOrientationConstraintNameMismatch, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NoIKSolverAvailable, moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION)

	CREATE_MOVEIT_ERROR_CODE_EXCEPTION (NoPrimitivePoseGiven, moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)

bool	determineAndCheckSamplingTime (const robot_trajectory::RobotTrajectoryPtr &first_trajectory, const robot_trajectory::RobotTrajectoryPtr &second_trajectory, double EPSILON, double &sampling_time)
	Determines the sampling time and checks that both trajectroies use the same sampling time. More...

bool	generateJointTrajectory (const robot_model::RobotModelConstPtr &robot_model, const JointLimitsContainer &joint_limits, const KDL::Trajectory &trajectory, const std::string &group_name, const std::string &link_name, const std::map< std::string, double > &initial_joint_position, const double &sampling_time, trajectory_msgs::JointTrajectory &joint_trajectory, moveit_msgs::MoveItErrorCodes &error_code, bool check_self_collision=false)
	Generate joint trajectory from a KDL Cartesian trajectory. More...

bool	generateJointTrajectory (const robot_model::RobotModelConstPtr &robot_model, const JointLimitsContainer &joint_limits, const pilz::CartesianTrajectory &trajectory, const std::string &group_name, const std::string &link_name, const std::map< std::string, double > &initial_joint_position, const std::map< std::string, double > &initial_joint_velocity, trajectory_msgs::JointTrajectory &joint_trajectory, moveit_msgs::MoveItErrorCodes &error_code, bool check_self_collision=false)
	Generate joint trajectory from a MultiDOFJointTrajectory. More...

bool	intersectionFound (const Eigen::Vector3d &p_center, const Eigen::Vector3d &p_current, const Eigen::Vector3d &p_next, const double &r)

bool	isRobotStateEqual (const robot_state::RobotState &state1, const robot_state::RobotState &state2, const std::string &joint_group_name, double epsilon)
	Check if the two robot states have the same joint position/velocity/acceleration. More...

bool	isRobotStateStationary (const robot_state::RobotState &state, const std::string &group, double EPSILON)
	check if the robot state have zero velocity/acceleartion More...

bool	isStateColliding (const bool test_for_self_collision, const moveit::core::RobotModelConstPtr &robot_model, robot_state::RobotState state, const robot_state::JointModelGroup const group, const double *const ik_solution)
	Checks if current robot state is in self collision. More...

bool	linearSearchIntersectionPoint (const std::string &link_name, const Eigen::Vector3d &center_position, const double &r, const robot_trajectory::RobotTrajectoryPtr &traj, bool inverseOrder, std::size_t &index)
	Performs a linear search for the intersection point of the trajectory with the blending radius. More...

std::ostream &	operator<< (std::ostream &os, const VelocityProfile_ATrap &p)

bool	verifySampleJointLimits (const std::map< std::string, double > &position_last, const std::map< std::string, double > &velocity_last, const std::map< std::string, double > &position_current, double duration_last, double duration_current, const JointLimitsContainer &joint_limits)
	verify the velocity/acceleration limits of current sample (based on backward difference computation) v(k) = [x(k) - x(k-1)]/[t(k) - t(k-1)] a(k) = [v(k) - v(k-1)]/[t(k) - t(k-2)]*2 More...

Variables
static const std::string	PARAM_NAMESPACE_LIMTS = "robot_description_planning"

Typedef Documentation

typedef boost::shared_ptr<const PlanningContextLoaderCIRC> pilz::PlanningContextLoaderCIRCConstPtr

Definition at line 50 of file planning_context_loader_circ.h.

typedef boost::shared_ptr<PlanningContextLoaderCIRC> pilz::PlanningContextLoaderCIRCPtr

Definition at line 49 of file planning_context_loader_circ.h.

typedef boost::shared_ptr<const PlanningContextLoader> pilz::PlanningContextLoaderConstPtr

Definition at line 105 of file planning_context_loader.h.

typedef boost::shared_ptr<const PlanningContextLoaderLIN> pilz::PlanningContextLoaderLINConstPtr

Definition at line 50 of file planning_context_loader_lin.h.

typedef boost::shared_ptr<PlanningContextLoaderLIN> pilz::PlanningContextLoaderLINPtr

Definition at line 49 of file planning_context_loader_lin.h.

typedef boost::shared_ptr<const PlanningContextLoaderPTP> pilz::PlanningContextLoaderPTPConstPtr

Definition at line 50 of file planning_context_loader_ptp.h.

typedef boost::shared_ptr<PlanningContextLoaderPTP> pilz::PlanningContextLoaderPTPPtr

Definition at line 49 of file planning_context_loader_ptp.h.

typedef boost::shared_ptr<PlanningContextLoader> pilz::PlanningContextLoaderPtr

Definition at line 104 of file planning_context_loader.h.

typedef std::unique_ptr<TrajectoryBlender> pilz::TrajectoryBlenderUniquePtr

Definition at line 56 of file trajectory_blender.h.

Function Documentation

bool pilz::computeLinkFK	(	const robot_model::RobotModelConstPtr &	robot_model,
		const std::string &	link_name,
		const std::map< std::string, double > &	joint_state,
		Eigen::Affine3d &	pose
	)

compute the pose of a link at give robot state

Parameters

robot_model	kinematic model of the robot
link_name	target link name
joint_state	joint positons of this group
pose	pose of the link in base frame of robot model

Returns: true if succeed

bool pilz::computeLinkFK	(	const robot_model::RobotModelConstPtr &	robot_model,
		const std::string &	link_name,
		const std::vector< std::string > &	joint_names,
		const std::vector< double > &	joint_positions,
		Eigen::Affine3d &	pose
	)

bool pilz::computePoseIK	(	const robot_model::RobotModelConstPtr &	robot_model,
		const std::string &	group_name,
		const std::string &	link_name,
		const Eigen::Affine3d &	pose,
		const std::string &	frame_id,
		const std::map< std::string, double > &	seed,
		std::map< std::string, double > &	solution,
		bool	check_self_collision = `true`,
		int	max_attempt = `10`,
		const double	timeout = `0.1`
	)

compute the inverse kinematics of a given pose, also check robot self collision

Parameters

robot_model	kinematic model of the robot
group_name	name of planning group
link_name	name of target link
pose	target pose in IK solver Frame
frame_id	reference frame of the target pose
seed	seed state of IK solver
solution	solution of IK
check_self_collision	true to enable self collision checking after IK computation
max_attempt	maximal attempts of IK

Returns: true if succeed

bool pilz::computePoseIK	(	const robot_model::RobotModelConstPtr &	robot_model,
		const std::string &	group_name,
		const std::string &	link_name,
		const geometry_msgs::Pose &	pose,
		const std::string &	frame_id,
		const std::map< std::string, double > &	seed,
		std::map< std::string, double > &	solution,
		bool	check_self_collision = `true`,
		int	max_attempt = `10`,
		const double	timeout = `0.1`
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	CircleNoPlane	,
		moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	CircleToSmall	,
		moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	PtpVelocityProfileSyncFailed	,
		moveit_msgs::MoveItErrorCodes::FAILURE
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	CenterPointDifferentRadius	,
		moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	LinTrajectoryConversionFailure	,
		moveit_msgs::MoveItErrorCodes::FAILURE
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	PtpNoIkSolutionForGoalPose	,
		moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	CircTrajectoryConversionFailure	,
		moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	UnknownPathConstraintName	,
		moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	JointNumberMismatch	,
		moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NoPositionConstraints	,
		moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	LinJointMissingInStartState	,
		moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	LinInverseForGoalIncalculable	,
		moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NoPrimitivePose	,
		moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	UnknownLinkNameOfAuxiliaryPoint	,
		moveit_msgs::MoveItErrorCodes::INVALID_LINK_NAME
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	TrajectoryGeneratorInvalidLimitsException	,
		moveit_msgs::MoveItErrorCodes::FAILURE
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NumberOfConstraintsMismatch	,
		moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	CircJointMissingInStartState	,
		moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	VelocityScalingIncorrect	,
		moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	AccelerationScalingIncorrect	,
		moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	CircInverseForGoalIncalculable	,
		moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	UnknownPlanningGroup	,
		moveit_msgs::MoveItErrorCodes::INVALID_GROUP_NAME
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NoJointNamesInStartState	,
		moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	SizeMismatchInStartState	,
		moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	JointsOfStartStateOutOfRange	,
		moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NonZeroVelocityInStartState	,
		moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NotExactlyOneGoalConstraintGiven	,
		moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	OnlyOneGoalTypeAllowed	,
		moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	StartStateGoalStateMismatch	,
		moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	JointConstraintDoesNotBelongToGroup	,
		moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	JointsOfGoalOutOfRange	,
		moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	PositionConstraintNameMissing	,
		moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	OrientationConstraintNameMissing	,
		moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	PositionOrientationConstraintNameMismatch	,
		moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NoIKSolverAvailable	,
		moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION
	)

pilz::CREATE_MOVEIT_ERROR_CODE_EXCEPTION	(	NoPrimitivePoseGiven	,
		moveit_msgs::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS
	)

bool pilz::determineAndCheckSamplingTime	(	const robot_trajectory::RobotTrajectoryPtr &	first_trajectory,
		const robot_trajectory::RobotTrajectoryPtr &	second_trajectory,
		double	EPSILON,
		double &	sampling_time
	)

Determines the sampling time and checks that both trajectroies use the same sampling time.

Returns: TRUE if the sampling time is equal between all given points (except the last two points of each trajectory), otherwise FALSE.

Definition at line 425 of file trajectory_functions.cpp.

bool pilz::generateJointTrajectory	(	const robot_model::RobotModelConstPtr &	robot_model,
		const JointLimitsContainer &	joint_limits,
		const KDL::Trajectory &	trajectory,
		const std::string &	group_name,
		const std::string &	link_name,
		const std::map< std::string, double > &	initial_joint_position,
		const double &	sampling_time,
		trajectory_msgs::JointTrajectory &	joint_trajectory,
		moveit_msgs::MoveItErrorCodes &	error_code,
		bool	check_self_collision = `false`
	)

Generate joint trajectory from a KDL Cartesian trajectory.

Parameters

robot_model	robot kinematics model
joint_limits	joint limits
trajectory	KDL Cartesian trajectory
group_name	name of the planning group
link_name	name of the target robot link
initial_joint_position	initial joint positions, needed for selecting the ik solution
sampling_time	sampling time of the generated trajectory
joint_trajectory	output as robot joint trajectory, first and last point will have zero velocity and acceleration
error_code	detailed error information
check_self_collision	check for self collision during creation

Returns: true if succeed

bool pilz::generateJointTrajectory	(	const robot_model::RobotModelConstPtr &	robot_model,
		const JointLimitsContainer &	joint_limits,
		const pilz::CartesianTrajectory &	trajectory,
		const std::string &	group_name,
		const std::string &	link_name,
		const std::map< std::string, double > &	initial_joint_position,
		const std::map< std::string, double > &	initial_joint_velocity,
		trajectory_msgs::JointTrajectory &	joint_trajectory,
		moveit_msgs::MoveItErrorCodes &	error_code,
		bool	check_self_collision = `false`
	)

Generate joint trajectory from a MultiDOFJointTrajectory.

Parameters

trajectory	Cartesian trajectory
info	motion plan information
sampling_time
joint_trajectory
error_code

Returns: true if succeed

bool pilz::intersectionFound	(	const Eigen::Vector3d &	p_center,
		const Eigen::Vector3d &	p_current,
		const Eigen::Vector3d &	p_next,
		const double &	r
	)

Definition at line 582 of file trajectory_functions.cpp.

bool pilz::isRobotStateEqual	(	const robot_state::RobotState &	state1,
		const robot_state::RobotState &	state2,
		const std::string &	joint_group_name,
		double	epsilon
	)

Check if the two robot states have the same joint position/velocity/acceleration.

Parameters

joint_group_name	The name of the joint group.
epsilon	Constants defining how close the joint position/velocity/acceleration have to be to be recognized as equal.

Returns: True if joint positions, joint velocities and joint accelerations are equal, otherwise false.

bool pilz::isRobotStateStationary	(	const robot_state::RobotState &	state,
		const std::string &	group,
		double	EPSILON
	)

check if the robot state have zero velocity/acceleartion

Parameters

state
group
EPSILON

Returns

bool pilz::isStateColliding	(	const bool	test_for_self_collision,
		const moveit::core::RobotModelConstPtr &	robot_model,
		robot_state::RobotState *	state,
		const robot_state::JointModelGroup *const	group,
		const double *const	ik_solution
	)

Checks if current robot state is in self collision.

Parameters

test_for_self_collision	Flag to deactivate this check during IK.
robot_model	robot kinematics model.
state	Robot state instance used for .
group
ik_solution

Returns

Definition at line 590 of file trajectory_functions.cpp.

bool pilz::linearSearchIntersectionPoint	(	const std::string &	link_name,
		const Eigen::Vector3d &	center_position,
		const double &	r,
		const robot_trajectory::RobotTrajectoryPtr &	traj,
		bool	inverseOrder,
		std::size_t &	index
	)

Performs a linear search for the intersection point of the trajectory with the blending radius.

Parameters

center_position	Center of blending sphere.
r	Radius of blending sphere.
traj	The trajectory.
inverseOrder	TRUE: Farthest element from blending sphere center is located at the smallest index of trajectroy.
index	The intersection index which has to be determined.

Definition at line 539 of file trajectory_functions.cpp.

std::ostream & pilz::operator<<	(	std::ostream &	os,
		const VelocityProfile_ATrap &	p
	)

Definition at line 369 of file velocity_profile_atrap.cpp.

bool pilz::verifySampleJointLimits	(	const std::map< std::string, double > &	position_last,
		const std::map< std::string, double > &	velocity_last,
		const std::map< std::string, double > &	position_current,
		double	duration_last,
		double	duration_current,
		const JointLimitsContainer &	joint_limits
	)

verify the velocity/acceleration limits of current sample (based on backward difference computation) v(k) = [x(k) - x(k-1)]/[t(k) - t(k-1)] a(k) = [v(k) - v(k-1)]/[t(k) - t(k-2)]*2

Parameters

position_last	position of last sample
velocity_last	velocity of last sample
position_current	position of current sample
duration_last	duration of last sample
duration_current	duration of current sample
joint_limits	joint limits

Returns

Definition at line 135 of file trajectory_functions.cpp.

Variable Documentation

const std::string pilz::PARAM_NAMESPACE_LIMTS = "robot_description_planning"

static

Definition at line 36 of file pilz_command_planner.cpp.

Classes

Typedefs

Functions

Variables

Typedef Documentation

Function Documentation

Variable Documentation