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planningutils.cpp File Reference

(2013-03-18 10:33:00 +0900, commit:334d202)

#include "libopenrave.h"
#include <boost/lexical_cast.hpp>
#include <openrave/planningutils.h>
#include <openrave/plannerparameters.h>
Include dependency graph for planningutils.cpp:

Go to the source code of this file.

Classes

class  OpenRAVE::planningutils::TrajectoryVerifier
 
class  OpenRAVE::planningutils::PlannerStateSaver
 

Namespaces

namespace  OpenRAVE
 The entire OpenRAVE library.
 
namespace  OpenRAVE::planningutils
 

Functions

OPENRAVE_API int OpenRAVE::planningutils::JitterActiveDOF (RobotBasePtr robot, int nMaxIterations=5000, dReal fRand=0.03f, const PlannerBase::PlannerParameters::NeighStateFn &neighstatefn=PlannerBase::PlannerParameters::NeighStateFn())
 Jitters the active joint angles of the robot until it escapes collision.
 
OPENRAVE_API bool OpenRAVE::planningutils::JitterTransform (KinBodyPtr pbody, float fJitter, int nMaxIterations=1000)
 Jitters the transform of a body until it escapes collision.
 
OPENRAVE_API void OpenRAVE::planningutils::VerifyTrajectory (PlannerBase::PlannerParametersConstPtr parameters, TrajectoryBaseConstPtr trajectory, dReal samplingstep=0.002)
 validates a trajectory with respect to the planning constraints. [multi-thread safe]
 
PlannerStatus OpenRAVE::planningutils::_PlanActiveDOFTrajectory (TrajectoryBasePtr traj, RobotBasePtr probot, bool hastimestamps, dReal fmaxvelmult, dReal fmaxaccelmult, const std::string &plannername, bool bsmooth, const std::string &plannerparameters)
 
PlannerStatus OpenRAVE::planningutils::_PlanTrajectory (TrajectoryBasePtr traj, bool hastimestamps, dReal fmaxvelmult, dReal fmaxaccelmult, const std::string &plannername, bool bsmooth, const std::string &plannerparameters)
 
static void OpenRAVE::planningutils::diffstatefn (std::vector< dReal > &q1, const std::vector< dReal > &q2, const std::vector< int > vrotaxes)
 
static void OpenRAVE::planningutils::_SetTransformBody (std::vector< dReal >::const_iterator itvalues, KinBodyPtr pbody, int index, int affinedofs, const Vector &vActvAffineRotationAxis)
 
static void OpenRAVE::planningutils::_GetTransformBody (std::vector< dReal >::iterator itvalues, KinBodyPtr pbody, int index, int affinedofs, const Vector &vActvAffineRotationAxis)
 
static dReal OpenRAVE::planningutils::_ComputeTransformBodyDistance (std::vector< dReal >::const_iterator itvalues0, std::vector< dReal >::const_iterator itvalues1, KinBodyPtr pbody, int index, int affinedofs, const Vector &vActvAffineRotationAxis)
 
void OpenRAVE::planningutils::_SetAffineState (const std::vector< dReal > &v, const std::list< boost::function< void(std::vector< dReal >::const_iterator) > > &listsetfunctions)
 
void OpenRAVE::planningutils::_GetAffineState (std::vector< dReal > &v, size_t expectedsize, const std::list< boost::function< void(std::vector< dReal >::iterator) > > &listgetfunctions)
 
dReal OpenRAVE::planningutils::_ComputeAffineDistanceMetric (const std::vector< dReal > &v0, const std::vector< dReal > &v1, const std::list< boost::function< dReal(std::vector< dReal >::const_iterator, std::vector< dReal >::const_iterator) > > &listdistfunctions)
 
static PlannerStatus OpenRAVE::planningutils::_PlanAffineTrajectory (TrajectoryBasePtr traj, const std::vector< dReal > &maxvelocities, const std::vector< dReal > &maxaccelerations, bool hastimestamps, const std::string &plannername, bool bsmooth, const std::string &plannerparameters)
 
OPENRAVE_API PlannerStatus OpenRAVE::planningutils::SmoothActiveDOFTrajectory (TrajectoryBasePtr traj, RobotBasePtr robot, dReal fmaxvelmult=1, dReal fmaxaccelmult=1, const std::string &plannername="", const std::string &plannerparameters="")
 Smooth the trajectory points to avoiding collisions by extracting and using the currently set active dofs of the robot. [multi-thread safe]
 
OPENRAVE_API PlannerStatus OpenRAVE::planningutils::SmoothAffineTrajectory (TrajectoryBasePtr traj, const std::vector< dReal > &maxvelocities, const std::vector< dReal > &maxaccelerations, const std::string &plannername="", const std::string &plannerparameters="")
 Smooth the trajectory points consisting of affine transformation values while avoiding collisions. [multi-thread safe]
 
OPENRAVE_API PlannerStatus OpenRAVE::planningutils::SmoothTrajectory (TrajectoryBasePtr traj, dReal fmaxvelmult=1, dReal fmaxaccelmult=1, const std::string &plannername="", const std::string &plannerparameters="")
 Smooth the trajectory points to avoiding collisions by extracting and using the positional data from the trajectory. [multi-thread safe]
 
static std::string OpenRAVE::planningutils::GetPlannerFromInterpolation (TrajectoryBasePtr traj, const std::string &forceplanner=std::string())
 
OPENRAVE_API PlannerStatus OpenRAVE::planningutils::RetimeActiveDOFTrajectory (TrajectoryBasePtr traj, RobotBasePtr robot, bool hastimestamps=false, dReal fmaxvelmult=1, dReal fmaxaccelmult=1, const std::string &plannername="", const std::string &plannerparameters="")
 Retime the trajectory points by extracting and using the currently set active dofs of the robot. [multi-thread safe]
 
OPENRAVE_API PlannerStatus OpenRAVE::planningutils::RetimeAffineTrajectory (TrajectoryBasePtr traj, const std::vector< dReal > &maxvelocities, const std::vector< dReal > &maxaccelerations, bool hastimestamps=false, const std::string &plannername="", const std::string &plannerparameters="")
 Retime the trajectory points consisting of affine transformation values while avoiding collisions. [multi-thread safe]
 
OPENRAVE_API PlannerStatus OpenRAVE::planningutils::RetimeTrajectory (TrajectoryBasePtr traj, bool hastimestamps=false, dReal fmaxvelmult=1, dReal fmaxaccelmult=1, const std::string &plannername="", const std::string &plannerparameters="")
 Retime the trajectory points using all the positional data from the trajectory. [multi-thread safe]
 
OPENRAVE_API void OpenRAVE::planningutils::InsertActiveDOFWaypointWithRetiming (int index, const std::vector< dReal > &dofvalues, const std::vector< dReal > &dofvelocities, TrajectoryBasePtr traj, RobotBasePtr robot, dReal fmaxvelmult=1, dReal fmaxaccelmult=1, const std::string &plannername="")
 Inserts a waypoint into a trajectory at the index specified, and retimes the segment before and after the trajectory. [multi-thread safe]
 
OPENRAVE_API void OpenRAVE::planningutils::InsertWaypointWithSmoothing (int index, const std::vector< dReal > &dofvalues, const std::vector< dReal > &dofvelocities, TrajectoryBasePtr traj, dReal fmaxvelmult=1, dReal fmaxaccelmult=1, const std::string &plannername="")
 insert a waypoint in a timed trajectory and smooth so that the trajectory always goes through the waypoint at the specified velocity.
 
OPENRAVE_API void OpenRAVE::planningutils::ConvertTrajectorySpecification (TrajectoryBasePtr traj, const ConfigurationSpecification &spec)
 convert the trajectory and all its points to a new specification
 
OPENRAVE_API void OpenRAVE::planningutils::ComputeTrajectoryDerivatives (TrajectoryBasePtr traj, int maxderiv)
 computes the trajectory derivatives and modifies the trajetory configuration to store them.
 
OPENRAVE_API TrajectoryBasePtr OpenRAVE::planningutils::ReverseTrajectory (TrajectoryBaseConstPtr traj)
 returns a new trajectory with the order of the waypoints and times reversed.
 
OPENRAVE_API TrajectoryBasePtr OpenRAVE::planningutils::MergeTrajectories (const std::list< TrajectoryBaseConstPtr > &listtrajectories)
 merges the contents of multiple trajectories into one so that everything can be played simultaneously.
 
OPENRAVE_API void OpenRAVE::planningutils::GetDHParameters (std::vector< DHParameter > &vparameters, KinBodyConstPtr pbody)
 returns the Denavit-Hartenberg parameters of the kinematics structure of the body.