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planningutils.h File Reference

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

Planning related utilities likes samplers, distance metrics, etc. More...

#include <openrave/openrave.h>
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Classes

class  OpenRAVE::planningutils::ActiveDOFTrajectorySmoother
 Smoother planner for the trajectory points to avoiding collisions by extracting and using the currently set active dofs of the robot. More...
 
class  OpenRAVE::planningutils::ActiveDOFTrajectoryRetimer
 Retimer planner the trajectory points by extracting and using the currently set active dofs of the robot. [multi-thread safe] More...
 
class  OpenRAVE::planningutils::AffineTrajectoryRetimer
 Retimer planner the trajectory points consisting of affine transformation values while avoiding collisions. [multi-thread safe] More...
 
class  OpenRAVE::planningutils::DHParameter
 represents the DH parameters for one joint More...
 
class  OpenRAVE::planningutils::LineCollisionConstraint
 Line collision. More...
 
class  OpenRAVE::planningutils::SimpleDistanceMetric
 simple distance metric based on joint weights More...
 
class  OpenRAVE::planningutils::SimpleNeighborhoodSampler
 samples the neighborhood of a configuration using the configuration space distance metric and sampler. More...
 
class  OpenRAVE::planningutils::ManipulatorIKGoalSampler
 Samples numsamples of solutions and each solution to vsolutions. More...
 
struct  OpenRAVE::planningutils::ManipulatorIKGoalSampler::SampleInfo
 

Namespaces

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

Typedefs

typedef boost::shared_ptr
< ActiveDOFTrajectorySmoother > 
OpenRAVE::planningutils::ActiveDOFTrajectorySmootherPtr
 
typedef boost::shared_ptr
< ActiveDOFTrajectoryRetimer > 
OpenRAVE::planningutils::ActiveDOFTrajectoryRetimerPtr
 
typedef boost::shared_ptr
< AffineTrajectoryRetimer > 
OpenRAVE::planningutils::AffineTrajectoryRetimerPtr
 
typedef boost::shared_ptr
< ManipulatorIKGoalSampler > 
OpenRAVE::planningutils::ManipulatorIKGoalSamplerPtr
 

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]
 
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]
 
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.
 

Detailed Description

Planning related utilities likes samplers, distance metrics, etc.

This file is optional and not automatically included with openrave.h

Definition in file planningutils.h.