pro_rrt.hpp File Reference

#include "rrtconnect/rrt_connect.hpp"
#include "tl_expected/expected.hpp"
#include "trajectory_msgs/msg/joint_trajectory.hpp"
#include <moveit_pro_base/trajectory_processing/time_optimal_trajectory_generation.hpp>
#include "moveit_pro_base/collision_detection/collision_common.hpp"
#include "moveit_pro_base/planning_scene/planning_scene.hpp"
#include "moveit_pro_base/robot_model/joint_model_group.hpp"
#include "moveit_pro_base/robot_model/robot_model.hpp"
#include "moveit_pro_base/robot_trajectory/robot_trajectory.hpp"

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Classes
struct	pro_rrt::RRTParams
	Configuration parameters for the RRT planner. More...
struct	pro_rrt::TrajectoryParams
	Parameters for the trajectory generation. More...
struct	pro_rrt::PlanarRotationConstraint
struct	pro_rrt::JointRangeConstraint
struct	pro_rrt::Constraints
	Definition of kinematic constraints to take into account during planning. More...
struct	pro_rrt::PlanningError
	Definition of planning error return type with a string and optional collision results. More...

Namespaces
namespace	pro_rrt

Functions
Constraints	pro_rrt::createPlanarOrientationConstraint (const moveit_pro::base::LinkModel *link, double angle_tolerance)
	Create planar orientation constraints for a set of links.
std::vector< Constraints >	pro_rrt::createPlanarOrientationConstraints (const moveit_pro::base::JointModelGroup &joint_model_group, const std::vector< std::string > &constrained_link_names, double angle_tolerance)
	Create planar orientation constraints for a set of links.
tl::expected< trajectory_msgs::msg::JointTrajectory, PlanningError >	pro_rrt::planTrajectoryToJointGoal (const moveit_pro::base::JointModelGroup &group, const moveit_pro::base::RobotState &start_state, const moveit_pro::base::RobotState &goal_state, const RRTParams &rrt_params, const std::vector< Constraints > &constraints, const TrajectoryParams &trajectory_params, moveit_pro::base::planning_scene::PlanningScene &planning_scene)
	Plan a trajectory from a start state to a goal state, for the given planning group, in the given planning_scene.
tl::expected< trajectory_msgs::msg::JointTrajectory, PlanningError >	pro_rrt::planTrajectoryToJointGoal (const moveit_pro::base::JointModelGroup &group, const Eigen::VectorXd &initial_joint_positions, const Eigen::VectorXd &goal_joint_positions, const RRTParams &rrt_params, const std::vector< Constraints > &constraints, const TrajectoryParams &trajectory_params, moveit_pro::base::planning_scene::PlanningScene &planning_scene)
	Plan a trajectory from initial joint positions to goal joint positions, for the given planning group, in the given planning_scene.
tl::expected< rrtconnect::ConfigPath, PlanningError >	pro_rrt::planPathToJointGoal (const moveit_pro::base::JointModelGroup &group, const Eigen::VectorXd &initial_joint_positions, const Eigen::VectorXd &goal_joint_positions, const RRTParams &rrt_params, const std::vector< Constraints > &constraints, moveit_pro::base::planning_scene::PlanningScene &planning_scene)
	Plan a path from initial joint positions to goal joint positions, for the given planning group, in the given planning_scene.
std::optional< std::string >	pro_rrt::checkInputsProRRT (double velocity_scale_factor, double acceleration_scale_factor, int trajectory_sampling_rate, double link_padding, bool keep_orientation, double keep_orientation_tolerance)
	Check if a given set of inputs for ProRRT are valid.
bool	pro_rrt::collisionValidationFunction (const moveit_pro::base::JointModelGroup &group, const Eigen::VectorXd &goal_positions, moveit_pro::base::planning_scene::PlanningScene &planning_scene)
	Validate a joint-space configuration by checking for collisions in the given planning scene.