Planning related utilities likes samplers, distance metrics, etc. More...
#include <openrave/openrave.h>
Go to the source code of this file.
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. | |
Planning related utilities likes samplers, distance metrics, etc.
This file is optional and not automatically included with openrave.h
Definition in file planningutils.h.
1.8.2