choreo_process_planning.cpp
/tmp/ws/src/choreo/choreo_process_planning/src/
choreo__process__planning_8cpp
choreo_process_planning/choreo_process_planning.h
static const std::string
APPLY_PLANNING_SCENE_SERVICE
choreo__process__planning_8cpp.html
a79a3dc286b78972108dc78b73344a415
choreo_process_planning.h
/tmp/ws/src/choreo/choreo_process_planning/include/choreo_process_planning/
choreo__process__planning_8h
choreo_process_planning::ProcessPlanningManager
choreo_process_planning
choreo_process_planning_node.cpp
/tmp/ws/src/choreo/choreo_process_planning/src/
choreo__process__planning__node_8cpp
choreo_process_planning/choreo_process_planning.h
int
main
choreo__process__planning__node_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
static const std::string
MOVE_TO_TARGET_POSE_SERVICE
choreo__process__planning__node_8cpp.html
ac0354bb81efb468570c371f3e0e9f562
static const std::string
PROCESS_PLANNING_SERVICE
choreo__process__planning__node_8cpp.html
a6d38ebf8a72ed863876cc4a58d2137c6
common_utils.cpp
/tmp/ws/src/choreo/choreo_process_planning/src/
common__utils_8cpp
common_utils.h
trajectory_utils.h
static double
calcDefaultTime
common__utils_8cpp.html
a7a699b6e2f32b58228fdf220e0ad9a48
(const std::vector< double > &a, const std::vector< double > &b, double max_joint_vel)
static const double
DEFAULT_ANGLE_DISCRETIZATION
common__utils_8cpp.html
a52ae461c9634f166366205af16c51acd
static const std::string
DEFAULT_FRAME_ID
common__utils_8cpp.html
a42bbf9458435652d496239f0cbcf50d7
static const double
DEFAULT_JOINT_VELOCITY
common__utils_8cpp.html
a188a78e45a11c5a4b653e2b60e4a9534
static const double
DEFAULT_JOINT_WAIT_TIME
common__utils_8cpp.html
aa7896bb7fd1bcff245c166e9750154fd
static const std::string
DEFAULT_MOVEIT_FRAME_ID
common__utils_8cpp.html
a62351dd3c0e7c7572480ba44f55a90ee
static const int
DEFAULT_MOVEIT_NUM_PLANNING_ATTEMPTS
common__utils_8cpp.html
a47bcadc3220f6460f71a56ea1b3a5c3f
static const std::string
DEFAULT_MOVEIT_PLANNER_ID
common__utils_8cpp.html
a0c26271f8f5bc3bb2b91bac8ebd1cc64
static const std::string
DEFAULT_MOVEIT_PLANNING_SERVICE_NAME
common__utils_8cpp.html
a523c6ce23193763348f43b5a14398e04
static const double
DEFAULT_MOVEIT_PLANNING_TIME
common__utils_8cpp.html
af0494b46e6031b9c7a2e10e7874059c5
static const double
DEFAULT_MOVEIT_VELOCITY_SCALING
common__utils_8cpp.html
ad470e30d3834a496c027d6e43ec24d12
static const double
DEFAULT_TIME_UNDEFINED_VELOCITY
common__utils_8cpp.html
a4805d320be48dc772ded733e744606aa
static const std::string
GET_PLANNER_PARAM_SERVICE
common__utils_8cpp.html
aac7d2f3082190f67b1742a5bbcd8ba3a
static const std::string
GET_PLANNING_SCENE_SERVICE
common__utils_8cpp.html
a2ddd03d48b27a6985d92e68c0f41da46
static const int
RRT_WEIRD_SOL_NUM_THRESHOLD
common__utils_8cpp.html
a6c32da54c377654fe4ffe26cd92afa4e
common_utils.h
/tmp/ws/src/choreo/choreo_process_planning/src/
common__utils_8h
choreo_process_planning
std::vector< descartes_core::TrajectoryPtPtr >
DescartesTraj
namespacechoreo__process__planning.html
ad92aa70371b54deb2e84f690137006f0
bool
addCollisionObject
namespacechoreo__process__planning.html
a52143732a41d8e1294a0afaec1caea48
(ros::ServiceClient &planning_scene, const moveit_msgs::CollisionObject &c_obj)
moveit_msgs::AttachedCollisionObject
addFullEndEffectorCollisionObject
namespacechoreo__process__planning.html
a3955715a559ec91e0207d0ac0e394b25
(bool is_add)
void
appendTrajectoryHeaders
namespacechoreo__process__planning.html
ab30da1108c22fd3546fa4fe90efc2e73
(const trajectory_msgs::JointTrajectory &orig_traj, trajectory_msgs::JointTrajectory &traj, const double sim_time_scale=0.0)
bool
clearAllCollisionObjects
namespacechoreo__process__planning.html
a32396feebfe4d499ec0acc8f257b99f4
(ros::ServiceClient &planning_scene)
DescartesTraj
createJointPath
namespacechoreo__process__planning.html
a1264670ef2e8348471d986d54e6781f1
(const std::vector< double > &start, const std::vector< double > &stop, double dtheta=M_PI/180.0)
Eigen::Affine3d
createNominalTransform
namespacechoreo__process__planning.html
a88e51ec42d35296874e2bc89ce84ed78
(const geometry_msgs::Pose &ref_pose, const geometry_msgs::Point &pt)
Eigen::Affine3d
createNominalTransform
namespacechoreo__process__planning.html
a73afa57c418b8014526c837f2214ff02
(const geometry_msgs::Pose &ref_pose, const double z_adjust=0.0)
Eigen::Affine3d
createNominalTransform
namespacechoreo__process__planning.html
a76abe4738e5e9697324dfc13fc6d577f
(const Eigen::Affine3d &ref_pose, const double z_adjust=0.0)
static std::vector< double >
extractJoints
namespacechoreo__process__planning.html
a3fec980ffcd30b4209528cb770e2110b
(const descartes_core::RobotModel &model, const descartes_core::TrajectoryPt &pt)
void
fillTrajectoryHeaders
namespacechoreo__process__planning.html
a6df8f8cf536cf4de41968ac77407e556
(const std::vector< std::string > &joints, trajectory_msgs::JointTrajectory &traj, const std::string world_frame)
double
freeSpaceCostFunction
namespacechoreo__process__planning.html
a24646384898b774f31095bb49ad5c528
(const std::vector< double > &source, const std::vector< double > &target)
std::vector< double >
getCurrentJointState
namespacechoreo__process__planning.html
aa73c3ae6ac31320eb058a179e0c1101f
(const std::string &topic)
trajectory_msgs::JointTrajectory
getMoveitPlan
namespacechoreo__process__planning.html
a1829deda1365c6e8973dc9930be28d95
(const std::string &group_name, const std::vector< double > &joints_start, const std::vector< double > &joints_stop, moveit::core::RobotModelConstPtr model)
trajectory_msgs::JointTrajectory
getMoveitTransitionPlan
namespacechoreo__process__planning.html
a4e10032ebdd33b16c0cbeffbfaf67352
(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
planFreeMove
namespacechoreo__process__planning.html
aaa1252c1566a52d4c128ec149ed45e22
(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
toROSTrajectory
namespacechoreo__process__planning.html
a03900f81729e3d961aecf0329844e7bc
(const DescartesTraj &solution, const descartes_core::RobotModel &model)
trajectory_msgs::JointTrajectory
toROSTrajectory
namespacechoreo__process__planning.html
aed31a4eccdef981cd7f4449dd973c442
(const std::vector< std::vector< double >> &solution, const descartes_core::RobotModel &model)
construct_planning_scene.cpp
/tmp/ws/src/choreo/choreo_process_planning/src/
construct__planning__scene_8cpp
construct_planning_scene.h
choreo_process_planning
void
constructPlanningScene
namespacechoreo__process__planning.html
a2eba3341a71420e1ba474baabaf0a7ad
(const planning_scene::PlanningScenePtr base_scene, const std::vector< moveit_msgs::CollisionObject > &add_cos, const std::vector< moveit_msgs::CollisionObject > &remove_cos, const std::vector< moveit_msgs::AttachedCollisionObject > &attach_objs, const std::vector< moveit_msgs::AttachedCollisionObject > &detach_objs, planning_scene::PlanningScenePtr s)
planning_scene::PlanningScenePtr
constructPlanningScene
namespacechoreo__process__planning.html
a0c9caac5f66f681a57c6e1f23e619239
(const planning_scene::PlanningScenePtr base_scene, const std::vector< moveit_msgs::CollisionObject > &add_cos, const std::vector< moveit_msgs::CollisionObject > &remove_cos, const std::vector< moveit_msgs::AttachedCollisionObject > &attach_objs, const std::vector< moveit_msgs::AttachedCollisionObject > &detach_objs)
void
constructPlanningScenes
namespacechoreo__process__planning.html
abffd8b5ae1f8352f1f5ef8279e7a1abe
(moveit::core::RobotModelConstPtr moveit_model, const std::string &world_frame, const choreo_msgs::AssemblySequencePickNPlace &as_pnp, std::vector< std::vector< planning_scene::PlanningScenePtr >> &planning_scenes_transition, std::vector< std::vector< planning_scene::PlanningScenePtr >> &planning_scenes_subprocess)
void
constructPlanningScenes
namespacechoreo__process__planning.html
a9782003932e238c4f862ae663ced78a8
(moveit::core::RobotModelConstPtr moveit_model, const std::vector< choreo_msgs::WireFrameCollisionObject > &wf_collision_objs, std::vector< planning_scene::PlanningScenePtr > &planning_scenes_shrinked_approach, std::vector< planning_scene::PlanningScenePtr > &planning_scenes_shrinked_depart, std::vector< planning_scene::PlanningScenePtr > &planning_scenes_full)
static const std::string
GET_PLANNING_SCENE_SERVICE
construct__planning__scene_8cpp.html
a2ddd03d48b27a6985d92e68c0f41da46
static const Eigen::Vector3d
MESH_SCALE_VECTOR
construct__planning__scene_8cpp.html
a7ccbfb516d851d499723dfd5050a53d6
static const std::string
PICKNPLACE_EEF_NAME
construct__planning__scene_8cpp.html
a34aa50d61c869527d8d19aa2c1788283
construct_planning_scene.h
/tmp/ws/src/choreo/choreo_process_planning/src/
construct__planning__scene_8h
choreo_process_planning
void
constructPlanningScene
namespacechoreo__process__planning.html
a2eba3341a71420e1ba474baabaf0a7ad
(const planning_scene::PlanningScenePtr base_scene, const std::vector< moveit_msgs::CollisionObject > &add_cos, const std::vector< moveit_msgs::CollisionObject > &remove_cos, const std::vector< moveit_msgs::AttachedCollisionObject > &attach_objs, const std::vector< moveit_msgs::AttachedCollisionObject > &detach_objs, planning_scene::PlanningScenePtr s)
planning_scene::PlanningScenePtr
constructPlanningScene
namespacechoreo__process__planning.html
a0c9caac5f66f681a57c6e1f23e619239
(const planning_scene::PlanningScenePtr base_scene, const std::vector< moveit_msgs::CollisionObject > &add_cos, const std::vector< moveit_msgs::CollisionObject > &remove_cos, const std::vector< moveit_msgs::AttachedCollisionObject > &attach_objs, const std::vector< moveit_msgs::AttachedCollisionObject > &detach_objs)
void
constructPlanningScenes
namespacechoreo__process__planning.html
abffd8b5ae1f8352f1f5ef8279e7a1abe
(moveit::core::RobotModelConstPtr moveit_model, const std::string &world_frame, const choreo_msgs::AssemblySequencePickNPlace &as_pnp, std::vector< std::vector< planning_scene::PlanningScenePtr >> &planning_scenes_transition, std::vector< std::vector< planning_scene::PlanningScenePtr >> &planning_scenes_subprocess)
void
constructPlanningScenes
namespacechoreo__process__planning.html
a9782003932e238c4f862ae663ced78a8
(moveit::core::RobotModelConstPtr moveit_model, const std::vector< choreo_msgs::WireFrameCollisionObject > &wf_collision_objs, std::vector< planning_scene::PlanningScenePtr > &planning_scenes_shrinked_approach, std::vector< planning_scene::PlanningScenePtr > &planning_scenes_shrinked_depart, std::vector< planning_scene::PlanningScenePtr > &planning_scenes_full)
generate_motion_plan.cpp
/tmp/ws/src/choreo/choreo_process_planning/src/
generate__motion__plan_8cpp
generate_motion_plan.h
trajectory_utils.h
path_transitions.h
common_utils.h
construct_planning_scene.h
semi_constrained_cartesian_planning.h
choreo_process_planning
void
adjustTrajectoryTiming
namespacechoreo__process__planning.html
a4170edff870d20aec6cb9bf9d532f5a0
(std::vector< choreo_msgs::UnitProcessPlan > &plans, const std::vector< std::string > &joint_names, const std::string world_frame)
void
appendTCPPoseToPlans
namespacechoreo__process__planning.html
af00e59d666a3033bf8bc948df1936b3f
(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
appendTCPPoseToPlansPickNPlace
namespacechoreo__process__planning.html
ad2454d561f683d8ff5ebdbf9457abac6
(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
generateMotionPlan
namespacechoreo__process__planning.html
a637ced7bacb9b92373cf249d5f782dd6
(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
generateMotionPlan
namespacechoreo__process__planning.html
a8ac651290ce487b8c63471882c77e196
(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
retractionPlanning
namespacechoreo__process__planning.html
a762b06a7fc7a6bbf9ecf7016b789f8c0
(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
transitionPlanning
namespacechoreo__process__planning.html
a6a088a9f0763d3db9cf19c3ea9db12ba
(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
transitionPlanningPickNPlace
namespacechoreo__process__planning.html
a06a03a13d6b135a3fa175c029ba910f1
(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)
static const int
TRANSITION_PLANNING_LOOP_COUNT
generate__motion__plan_8cpp.html
a2e54414a7dbc3a5eee29e9551c753b9d
generate_motion_plan.h
/tmp/ws/src/choreo/choreo_process_planning/src/
generate__motion__plan_8h
choreo_process_planning
void
adjustTrajectoryTiming
namespacechoreo__process__planning.html
a4170edff870d20aec6cb9bf9d532f5a0
(std::vector< choreo_msgs::UnitProcessPlan > &plans, const std::vector< std::string > &joint_names, const std::string world_frame)
void
appendTCPPoseToPlans
namespacechoreo__process__planning.html
af00e59d666a3033bf8bc948df1936b3f
(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)
bool
generateMotionPlan
namespacechoreo__process__planning.html
a637ced7bacb9b92373cf249d5f782dd6
(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
generateMotionPlan
namespacechoreo__process__planning.html
a8ac651290ce487b8c63471882c77e196
(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
retractionPlanning
namespacechoreo__process__planning.html
a762b06a7fc7a6bbf9ecf7016b789f8c0
(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
transitionPlanning
namespacechoreo__process__planning.html
a6a088a9f0763d3db9cf19c3ea9db12ba
(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)
move_to_target_pose_planning.cpp
/tmp/ws/src/choreo/choreo_process_planning/src/
move__to__target__pose__planning_8cpp
choreo_process_planning/choreo_process_planning.h
path_transitions.h
common_utils.h
choreo_process_planning
static const std::string
JOINT_TOPIC_NAME
namespacechoreo__process__planning.html
a02b663aa8bd35c399c92e59ed37c1a68
path_transitions.cpp
/tmp/ws/src/choreo/choreo_process_planning/src/
path__transitions_8cpp
path_transitions.h
trajectory_utils.h
choreo_process_planning
descartes_planner
boost::function< double(const double *, const double *)>
CostFunction
namespacedescartes__planner.html
aadac140a9ddd2ce2f312f22cc8934eeb
bool
retractPath
namespacechoreo__process__planning.html
adb28053b6e3270dda54206a76b2827ef
(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 >
toDescartesConstrainedPath
namespacechoreo__process__planning.html
ad3c14ea0902ad20196b4b04a3a69690f
(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 >
toDescartesConstrainedPath
namespacechoreo__process__planning.html
a4b5ae4201adcce73315dda102e245976
(const std::vector< choreo_msgs::ElementCandidatePoses > &task_sequence, const ConstrainedSegParameters &seg_params)
std::vector< descartes_planner::ConstrainedSegment >
toDescartesConstrainedPath
namespacechoreo__process__planning.html
a4a2fedea66296049e269ea0358b21a2c
(const std::vector< choreo_msgs::ElementCandidatePoses > &task_sequence, const double &linear_vel, const double &linear_disc, const double &angular_disc, const double &retract_dist)
static const double
JTS_DISC_DELTA
path__transitions_8cpp.html
ad2c0dca3ecc7eeeb9b2e0d2f5fbd0b7c
static const double
MIN_RETRACTION_DIST
path__transitions_8cpp.html
afa8a35674d4fbbc6dcb2a13ecc522f99
static const double
RETRACT_OFFSET_SAMPLE_TIMEOUT
path__transitions_8cpp.html
a66b21a7793e5e9bd81173e736f6f64ec
path_transitions.h
/tmp/ws/src/choreo/choreo_process_planning/src/
path__transitions_8h
common_utils.h
choreo_process_planning::ConstrainedSegParameters
choreo_process_planning
bool
retractPath
namespacechoreo__process__planning.html
adb28053b6e3270dda54206a76b2827ef
(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 >
toDescartesConstrainedPath
namespacechoreo__process__planning.html
ad3c14ea0902ad20196b4b04a3a69690f
(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 >
toDescartesConstrainedPath
namespacechoreo__process__planning.html
a4b5ae4201adcce73315dda102e245976
(const std::vector< choreo_msgs::ElementCandidatePoses > &task_sequence, const ConstrainedSegParameters &seg_params)
std::vector< descartes_planner::ConstrainedSegment >
toDescartesConstrainedPath
namespacechoreo__process__planning.html
a4a2fedea66296049e269ea0358b21a2c
(const std::vector< choreo_msgs::ElementCandidatePoses > &task_sequence, const double &linear_vel, const double &linear_disc, const double &angular_disc, const double &retract_dist)
picknplace_planning.cpp
/tmp/ws/src/choreo/choreo_process_planning/src/
picknplace__planning_8cpp
choreo_process_planning/choreo_process_planning.h
generate_motion_plan.h
path_transitions.h
common_utils.h
choreo_process_planning
print_process_planning.cpp
/tmp/ws/src/choreo/choreo_process_planning/src/
print__process__planning_8cpp
choreo_process_planning/choreo_process_planning.h
path_transitions.h
common_utils.h
generate_motion_plan.h
choreo_process_planning
static const std::string
JOINT_TOPIC_NAME
namespacechoreo__process__planning.html
a02b663aa8bd35c399c92e59ed37c1a68
const double
PRINT_ANGLE_DISCRETIZATION
namespacechoreo__process__planning.html
adf24feaea7f8c3312fdd8e1bb3033cad
semi_constrained_cartesian_planning.cpp
/tmp/ws/src/choreo/choreo_process_planning/src/
semi__constrained__cartesian__planning_8cpp
semi_constrained_cartesian_planning.h
common_utils.h
path_transitions.h
choreo_process_planning
void
CLTRRTforProcessROSTraj
namespacechoreo__process__planning.html
a48c967d113a5e541923f7e82beb0ffdd
(descartes_core::RobotModelPtr model, std::vector< descartes_planner::ConstrainedSegment > &segs, const double clt_rrt_unit_process_timeout, const double clt_rrt_timeout, const std::vector< planning_scene::PlanningScenePtr > &planning_scenes_approach, const std::vector< planning_scene::PlanningScenePtr > &planning_scenes_depart, const std::vector< choreo_msgs::ElementCandidatePoses > &task_seq, std::vector< choreo_msgs::UnitProcessPlan > &plans, const std::string &saved_graph_file_name, bool use_saved_graph)
void
CLTRRTforProcessROSTraj
namespacechoreo__process__planning.html
a63f0a0bb68a2a9bd5264735818b2981d
(descartes_core::RobotModelPtr model, const choreo_msgs::AssemblySequencePickNPlace &as_pnp, const double clt_rrt_unit_process_timeout, const double clt_rrt_timeout, const double &linear_vel, const double &linear_disc, const std::vector< std::vector< planning_scene::PlanningScenePtr >> &planning_scenes_subprocess, std::vector< choreo_msgs::UnitProcessPlan > &plans, const std::string &saved_graph_file_name, bool use_saved_graph)
semi_constrained_cartesian_planning.h
/tmp/ws/src/choreo/choreo_process_planning/src/
semi__constrained__cartesian__planning_8h
choreo_process_planning
void
CLTRRTforProcessROSTraj
namespacechoreo__process__planning.html
a48c967d113a5e541923f7e82beb0ffdd
(descartes_core::RobotModelPtr model, std::vector< descartes_planner::ConstrainedSegment > &segs, const double clt_rrt_unit_process_timeout, const double clt_rrt_timeout, const std::vector< planning_scene::PlanningScenePtr > &planning_scenes_approach, const std::vector< planning_scene::PlanningScenePtr > &planning_scenes_depart, const std::vector< choreo_msgs::ElementCandidatePoses > &task_seq, std::vector< choreo_msgs::UnitProcessPlan > &plans, const std::string &saved_graph_file_name, bool use_saved_graph)
void
CLTRRTforProcessROSTraj
namespacechoreo__process__planning.html
a63f0a0bb68a2a9bd5264735818b2981d
(descartes_core::RobotModelPtr model, const choreo_msgs::AssemblySequencePickNPlace &as_pnp, const double clt_rrt_unit_process_timeout, const double clt_rrt_timeout, const double &linear_vel, const double &linear_disc, const std::vector< std::vector< planning_scene::PlanningScenePtr >> &planning_scenes_subprocess, std::vector< choreo_msgs::UnitProcessPlan > &plans, const std::string &saved_graph_file_name, bool use_saved_graph)
trajectory_utils.cpp
/tmp/ws/src/choreo/choreo_process_planning/src/
trajectory__utils_8cpp
trajectory_utils.h
static std::vector< double >
calculateJointSteps
trajectory__utils_8cpp.html
ab2fd7044d125829089c55df22f599a42
(const std::vector< double > &start, const std::vector< double > &stop, unsigned int steps)
static unsigned int
calculateRequiredSteps
trajectory__utils_8cpp.html
a286c188da536769f27c3c8746228add9
(const std::vector< double > &start, const std::vector< double > &stop, double dtheta)
static std::vector< double >
interpolateJointSteps
trajectory__utils_8cpp.html
ab1b77da8cf977836a3b6645e014e5597
(const std::vector< double > &start, const std::vector< double > &step_size, unsigned step)
trajectory_utils.h
/tmp/ws/src/choreo/choreo_process_planning/src/
trajectory__utils_8h
choreo_process_planning
std::vector< std::vector< double > >
JointVector
namespacechoreo__process__planning.html
a194edcb911fa1b3e5605a00897a5156b
std::vector< Eigen::Affine3d, Eigen::aligned_allocator< Eigen::Affine3d > >
PoseVector
namespacechoreo__process__planning.html
a89858e4e3fed69d4ca22f25159e7be90
PoseVector
interpolateCartesian
namespacechoreo__process__planning.html
a0bb7dfab3e9fd56d57357a007ca17266
(const Eigen::Affine3d &start, const Eigen::Affine3d &stop, double ds)
JointVector
interpolateJoint
namespacechoreo__process__planning.html
a9638964c9d41a3e353f16b1dc513afa8
(const std::vector< double > &start, const std::vector< double > &stop, double dtheta)
choreo_process_planning::ConstrainedSegParameters
structchoreo__process__planning_1_1ConstrainedSegParameters.html
double
angular_disc
structchoreo__process__planning_1_1ConstrainedSegParameters.html
af8c2f9b4ec9d4abc072c263cf324ef81
double
linear_disc
structchoreo__process__planning_1_1ConstrainedSegParameters.html
a1e1935bf1ff706caed8257f8c4d733b0
double
linear_vel
structchoreo__process__planning_1_1ConstrainedSegParameters.html
a6973eace67b7353e432e9c897e21295d
double
retract_dist
structchoreo__process__planning_1_1ConstrainedSegParameters.html
a2052e01a08347cd13441751085371fbd
choreo_process_planning::ProcessPlanningManager
classchoreo__process__planning_1_1ProcessPlanningManager.html
bool
handleMoveToTargetPosePlanAndExecution
classchoreo__process__planning_1_1ProcessPlanningManager.html
a4cafcf368c629da6edb6f8ad2b866afa
(choreo_msgs::MoveToTargetPose::Request &req, choreo_msgs::MoveToTargetPose::Response &res)
bool
handlePickNPlacePlanning
classchoreo__process__planning_1_1ProcessPlanningManager.html
a91f304c44e9d5fd374c7a6f5c192577c
(choreo_msgs::ProcessPlanning::Request &req, choreo_msgs::ProcessPlanning::Response &res)
bool
handlePrintPlanning
classchoreo__process__planning_1_1ProcessPlanningManager.html
a724deaecff4e7178a1f99d21f66390dd
(choreo_msgs::ProcessPlanning::Request &req, choreo_msgs::ProcessPlanning::Response &res)
bool
handleProcessPlanning
classchoreo__process__planning_1_1ProcessPlanningManager.html
a2c370ea4d5b465f74dbb558840756578
(choreo_msgs::ProcessPlanning::Request &req, choreo_msgs::ProcessPlanning::Response &res)
ProcessPlanningManager
classchoreo__process__planning_1_1ProcessPlanningManager.html
a078a6b17ed6eb8d28bf7010c92e1c66d
(const std::string &world_frame, const std::string &hotend_group, const std::string &hotend_tcp, const std::string &hotend_base, const std::string &robot_model_plugin)
std::string
hotend_group_name_
classchoreo__process__planning_1_1ProcessPlanningManager.html
a42141533a0525eb69515aca21068796b
descartes_core::RobotModelPtr
hotend_model_
classchoreo__process__planning_1_1ProcessPlanningManager.html
a791db33fe8ee2f0ed89fc2f84066e27c
moveit::core::RobotModelConstPtr
moveit_model_
classchoreo__process__planning_1_1ProcessPlanningManager.html
ab4e7890a4ca2ef04a2d0d309845e8aab
ros::NodeHandle
nh_
classchoreo__process__planning_1_1ProcessPlanningManager.html
a62ccef29b3c10783b7e5f44d2d9855d3
ros::ServiceClient
planning_scene_diff_client_
classchoreo__process__planning_1_1ProcessPlanningManager.html
aa89af58ea54ad1cf151bb27075d2522d
pluginlib::ClassLoader< descartes_core::RobotModel >
plugin_loader_
classchoreo__process__planning_1_1ProcessPlanningManager.html
a87507cb42c747f8f5a32879ff3a247fa
std::string
world_frame_
classchoreo__process__planning_1_1ProcessPlanningManager.html
abe44c92178bf385fa962f0b6afb24c1a
choreo_process_planning
namespacechoreo__process__planning.html
choreo_process_planning::ConstrainedSegParameters
choreo_process_planning::ProcessPlanningManager
std::vector< descartes_core::TrajectoryPtPtr >
DescartesTraj
namespacechoreo__process__planning.html
ad92aa70371b54deb2e84f690137006f0
std::vector< std::vector< double > >
JointVector
namespacechoreo__process__planning.html
a194edcb911fa1b3e5605a00897a5156b
std::vector< Eigen::Affine3d, Eigen::aligned_allocator< Eigen::Affine3d > >
PoseVector
namespacechoreo__process__planning.html
a89858e4e3fed69d4ca22f25159e7be90
bool
addCollisionObject
namespacechoreo__process__planning.html
a52143732a41d8e1294a0afaec1caea48
(ros::ServiceClient &planning_scene, const moveit_msgs::CollisionObject &c_obj)
moveit_msgs::AttachedCollisionObject
addFullEndEffectorCollisionObject
namespacechoreo__process__planning.html
a3955715a559ec91e0207d0ac0e394b25
(bool is_add)
void
adjustTrajectoryTiming
namespacechoreo__process__planning.html
a4170edff870d20aec6cb9bf9d532f5a0
(std::vector< choreo_msgs::UnitProcessPlan > &plans, const std::vector< std::string > &joint_names, const std::string world_frame)
void
appendTCPPoseToPlans
namespacechoreo__process__planning.html
af00e59d666a3033bf8bc948df1936b3f
(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
appendTCPPoseToPlansPickNPlace
namespacechoreo__process__planning.html
ad2454d561f683d8ff5ebdbf9457abac6
(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)
void
appendTrajectoryHeaders
namespacechoreo__process__planning.html
ab30da1108c22fd3546fa4fe90efc2e73
(const trajectory_msgs::JointTrajectory &orig_traj, trajectory_msgs::JointTrajectory &traj, const double sim_time_scale=0.0)
bool
clearAllCollisionObjects
namespacechoreo__process__planning.html
a32396feebfe4d499ec0acc8f257b99f4
(ros::ServiceClient &planning_scene)
void
CLTRRTforProcessROSTraj
namespacechoreo__process__planning.html
a48c967d113a5e541923f7e82beb0ffdd
(descartes_core::RobotModelPtr model, std::vector< descartes_planner::ConstrainedSegment > &segs, const double clt_rrt_unit_process_timeout, const double clt_rrt_timeout, const std::vector< planning_scene::PlanningScenePtr > &planning_scenes_approach, const std::vector< planning_scene::PlanningScenePtr > &planning_scenes_depart, const std::vector< choreo_msgs::ElementCandidatePoses > &task_seq, std::vector< choreo_msgs::UnitProcessPlan > &plans, const std::string &saved_graph_file_name, bool use_saved_graph)
void
CLTRRTforProcessROSTraj
namespacechoreo__process__planning.html
a63f0a0bb68a2a9bd5264735818b2981d
(descartes_core::RobotModelPtr model, const choreo_msgs::AssemblySequencePickNPlace &as_pnp, const double clt_rrt_unit_process_timeout, const double clt_rrt_timeout, const double &linear_vel, const double &linear_disc, const std::vector< std::vector< planning_scene::PlanningScenePtr >> &planning_scenes_subprocess, std::vector< choreo_msgs::UnitProcessPlan > &plans, const std::string &saved_graph_file_name, bool use_saved_graph)
void
constructPlanningScene
namespacechoreo__process__planning.html
a2eba3341a71420e1ba474baabaf0a7ad
(const planning_scene::PlanningScenePtr base_scene, const std::vector< moveit_msgs::CollisionObject > &add_cos, const std::vector< moveit_msgs::CollisionObject > &remove_cos, const std::vector< moveit_msgs::AttachedCollisionObject > &attach_objs, const std::vector< moveit_msgs::AttachedCollisionObject > &detach_objs, planning_scene::PlanningScenePtr s)
planning_scene::PlanningScenePtr
constructPlanningScene
namespacechoreo__process__planning.html
a0c9caac5f66f681a57c6e1f23e619239
(const planning_scene::PlanningScenePtr base_scene, const std::vector< moveit_msgs::CollisionObject > &add_cos, const std::vector< moveit_msgs::CollisionObject > &remove_cos, const std::vector< moveit_msgs::AttachedCollisionObject > &attach_objs, const std::vector< moveit_msgs::AttachedCollisionObject > &detach_objs)
void
constructPlanningScenes
namespacechoreo__process__planning.html
abffd8b5ae1f8352f1f5ef8279e7a1abe
(moveit::core::RobotModelConstPtr moveit_model, const std::string &world_frame, const choreo_msgs::AssemblySequencePickNPlace &as_pnp, std::vector< std::vector< planning_scene::PlanningScenePtr >> &planning_scenes_transition, std::vector< std::vector< planning_scene::PlanningScenePtr >> &planning_scenes_subprocess)
void
constructPlanningScenes
namespacechoreo__process__planning.html
a9782003932e238c4f862ae663ced78a8
(moveit::core::RobotModelConstPtr moveit_model, const std::vector< choreo_msgs::WireFrameCollisionObject > &wf_collision_objs, std::vector< planning_scene::PlanningScenePtr > &planning_scenes_shrinked_approach, std::vector< planning_scene::PlanningScenePtr > &planning_scenes_shrinked_depart, std::vector< planning_scene::PlanningScenePtr > &planning_scenes_full)
DescartesTraj
createJointPath
namespacechoreo__process__planning.html
a1264670ef2e8348471d986d54e6781f1
(const std::vector< double > &start, const std::vector< double > &stop, double dtheta=M_PI/180.0)
Eigen::Affine3d
createNominalTransform
namespacechoreo__process__planning.html
a88e51ec42d35296874e2bc89ce84ed78
(const geometry_msgs::Pose &ref_pose, const geometry_msgs::Point &pt)
Eigen::Affine3d
createNominalTransform
namespacechoreo__process__planning.html
a73afa57c418b8014526c837f2214ff02
(const geometry_msgs::Pose &ref_pose, const double z_adjust=0.0)
Eigen::Affine3d
createNominalTransform
namespacechoreo__process__planning.html
a76abe4738e5e9697324dfc13fc6d577f
(const Eigen::Affine3d &ref_pose, const double z_adjust=0.0)
static std::vector< double >
extractJoints
namespacechoreo__process__planning.html
a3fec980ffcd30b4209528cb770e2110b
(const descartes_core::RobotModel &model, const descartes_core::TrajectoryPt &pt)
void
fillTrajectoryHeaders
namespacechoreo__process__planning.html
a6df8f8cf536cf4de41968ac77407e556
(const std::vector< std::string > &joints, trajectory_msgs::JointTrajectory &traj, const std::string world_frame)
double
freeSpaceCostFunction
namespacechoreo__process__planning.html
a24646384898b774f31095bb49ad5c528
(const std::vector< double > &source, const std::vector< double > &target)
bool
generateMotionPlan
namespacechoreo__process__planning.html
a637ced7bacb9b92373cf249d5f782dd6
(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
generateMotionPlan
namespacechoreo__process__planning.html
a8ac651290ce487b8c63471882c77e196
(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)
std::vector< double >
getCurrentJointState
namespacechoreo__process__planning.html
aa73c3ae6ac31320eb058a179e0c1101f
(const std::string &topic)
trajectory_msgs::JointTrajectory
getMoveitPlan
namespacechoreo__process__planning.html
a1829deda1365c6e8973dc9930be28d95
(const std::string &group_name, const std::vector< double > &joints_start, const std::vector< double > &joints_stop, moveit::core::RobotModelConstPtr model)
trajectory_msgs::JointTrajectory
getMoveitTransitionPlan
namespacechoreo__process__planning.html
a4e10032ebdd33b16c0cbeffbfaf67352
(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)
PoseVector
interpolateCartesian
namespacechoreo__process__planning.html
a0bb7dfab3e9fd56d57357a007ca17266
(const Eigen::Affine3d &start, const Eigen::Affine3d &stop, double ds)
JointVector
interpolateJoint
namespacechoreo__process__planning.html
a9638964c9d41a3e353f16b1dc513afa8
(const std::vector< double > &start, const std::vector< double > &stop, double dtheta)
trajectory_msgs::JointTrajectory
planFreeMove
namespacechoreo__process__planning.html
aaa1252c1566a52d4c128ec149ed45e22
(descartes_core::RobotModel &model, const std::string &group_name, moveit::core::RobotModelConstPtr moveit_model, const std::vector< double > &start, const std::vector< double > &stop)
void
retractionPlanning
namespacechoreo__process__planning.html
a762b06a7fc7a6bbf9ecf7016b789f8c0
(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)
bool
retractPath
namespacechoreo__process__planning.html
adb28053b6e3270dda54206a76b2827ef
(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 >
toDescartesConstrainedPath
namespacechoreo__process__planning.html
ad3c14ea0902ad20196b4b04a3a69690f
(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 >
toDescartesConstrainedPath
namespacechoreo__process__planning.html
a4b5ae4201adcce73315dda102e245976
(const std::vector< choreo_msgs::ElementCandidatePoses > &task_sequence, const ConstrainedSegParameters &seg_params)
std::vector< descartes_planner::ConstrainedSegment >
toDescartesConstrainedPath
namespacechoreo__process__planning.html
a4a2fedea66296049e269ea0358b21a2c
(const std::vector< choreo_msgs::ElementCandidatePoses > &task_sequence, const double &linear_vel, const double &linear_disc, const double &angular_disc, const double &retract_dist)
trajectory_msgs::JointTrajectory
toROSTrajectory
namespacechoreo__process__planning.html
a03900f81729e3d961aecf0329844e7bc
(const DescartesTraj &solution, const descartes_core::RobotModel &model)
trajectory_msgs::JointTrajectory
toROSTrajectory
namespacechoreo__process__planning.html
aed31a4eccdef981cd7f4449dd973c442
(const std::vector< std::vector< double >> &solution, const descartes_core::RobotModel &model)
void
transitionPlanning
namespacechoreo__process__planning.html
a6a088a9f0763d3db9cf19c3ea9db12ba
(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
transitionPlanningPickNPlace
namespacechoreo__process__planning.html
a06a03a13d6b135a3fa175c029ba910f1
(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)
static const std::string
JOINT_TOPIC_NAME
namespacechoreo__process__planning.html
a02b663aa8bd35c399c92e59ed37c1a68
static const std::string
JOINT_TOPIC_NAME
namespacechoreo__process__planning.html
a02b663aa8bd35c399c92e59ed37c1a68
const double
PRINT_ANGLE_DISCRETIZATION
namespacechoreo__process__planning.html
adf24feaea7f8c3312fdd8e1bb3033cad
descartes_planner
namespacedescartes__planner.html
boost::function< double(const double *, const double *)>
CostFunction
namespacedescartes__planner.html
aadac140a9ddd2ce2f312f22cc8934eeb
boost::function< double(const double *, const double *)>
CostFunction
namespacedescartes__planner.html
aadac140a9ddd2ce2f312f22cc8934eeb
void
appendInTime
namespacedescartes__planner.html
a40cf5502e22dd5a473a5314a54bdf589
(LadderGraph ¤t, const LadderGraph &next)
bool
checkFeasibility
namespacedescartes__planner.html
a9ec2fc6a7ebd96dfb23483b702e0be62
(descartes_core::RobotModel &model, const std::vector< Eigen::Affine3d > &poses, descartes_planner::CapRung &cap_rung, descartes_planner::CapVert &cap_vert)
bool
checkFeasibilityPickNPlace
namespacedescartes__planner.html
a80d0b2a3869ac972f654a44135be1fad
(descartes_core::RobotModel &model, const std::vector< std::vector< Eigen::Affine3d >> &poses, descartes_planner::CapRung &cap_rung, descartes_planner::CapVert &cap_vert)
std::vector< Eigen::Vector3d >
discretizePositions
namespacedescartes__planner.html
a4f3665ea5044f2019896460f9c515ccb
(const Eigen::Vector3d &start, const Eigen::Vector3d &stop, const double ds)
bool
domainDiscreteEnumerationCheck
namespacedescartes__planner.html
a7b422eb7afd60b27ed242028fd82e5a1
(descartes_core::RobotModel &model, descartes_planner::CapRung &cap_rung, descartes_planner::CapVert &cap_vert)
LadderGraph
generateLadderGraphFromPoses
namespacedescartes__planner.html
af7fdc3316bdf99687fac346a6ca2c590
(const descartes_core::RobotModel &model, const std::vector< Eigen::Affine3d > &ps, const double dt)
std::vector< Eigen::Affine3d >
generateSample
namespacedescartes__planner.html
a22cd60354ee51b6f31dccf33517bffe9
(const descartes_planner::CapRung &cap_rung, descartes_planner::CapVert &cap_vert)
std::vector< std::vector< Eigen::Affine3d > >
generateSamplePickNPlace
namespacedescartes__planner.html
a6ab1432e51995b3fe4815378c0216fc5
(const descartes_planner::CapRung &cap_rung, descartes_planner::CapVert &cap_vert)
Eigen::Affine3d
makePose
namespacedescartes__planner.html
aae2028fbe12a6b0d6d771ff63dbe01f0
(const Eigen::Vector3d &position, const Eigen::Matrix3d &orientation, const double z_axis_angle)
Eigen::Affine3d
makePose
namespacedescartes__planner.html
a5d56ce29d97447146d1da06b1793df39
(const Eigen::Vector3d &position, const Eigen::Matrix3d &orientation)
double
randomSampleDouble
namespacedescartes__planner.html
a54fca98bbef18a429f993bad8f4e534a
(double lower, double upper)
int
randomSampleInt
namespacedescartes__planner.html
a5d473b18bfa5d7aaaa9aad1709f3601d
(int lower, int upper)
LadderGraph
sampleConstrainedPaths
namespacedescartes__planner.html
a8a1b396798c3b838500fcc1f50da35cd
(const descartes_core::RobotModel &model, ConstrainedSegment &segment)
LadderGraph
sampleSingleConfig
namespacedescartes__planner.html
ae75031c7c134e0796cbd219bc1e8a508
(const descartes_core::RobotModel &model, const std::vector< Eigen::Vector3d > &origins, const double dt, const Eigen::Matrix3d &orientation, const double z_axis_angle)
LadderGraph
sampleSingleConfig
namespacedescartes__planner.html
ada30c1c05adcc450ae1bc74a58ae383e
(const descartes_core::RobotModel &model, const std::vector< Eigen::Vector3d > &origins, const Eigen::Matrix3d &orientation, const double dt)