Classes
struct	Constraints
	Definition of kinematic constraints to take into account during planning. More...

struct	JointRangeConstraint

struct	PlanarRotationConstraint

struct	PlanningError
	Definition of planning error return type with a string and optional collision results. More...

class	PlanningTestFixture

struct	RRTParams
	Configuration parameters for the RRT planner. More...

struct	TrajectoryParams
	Parameters for the trajectory generation. More...

Typedefs
using	ContactMap = collision_detection::CollisionResult::ContactMap

Functions
Constraints	createPlanarOrientationConstraint (const moveit::core::LinkModel *link, double angle_tolerance)
	Create planar orientation constraints for a set of links.

std::vector< Constraints >	createPlanarOrientationConstraints (const moveit::core::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 >	planTrajectoryToJointGoal (const moveit::core::JointModelGroup &group, const moveit::core::RobotState &start_state, const moveit::core::RobotState &goal_state, const RRTParams &rrt_params, const std::vector< Constraints > &constraints, const TrajectoryParams &trajectory_params, 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 >	planTrajectoryToJointGoal (const moveit::core::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, 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`.

std::optional< std::string >	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	collisionValidationFunction (const moveit::core::JointModelGroup &group, const Eigen::VectorXd &goal_positions, planning_scene::PlanningScene &planning_scene)
	Validate a joint-space configuration by checking for collisions in the given planning scene.

Variables
constexpr char	kTestRobot [] = "panda"

constexpr char	kTestGroup [] = "panda_arm"

Typedef Documentation

◆ ContactMap

using pro_rrt::ContactMap = typedef collision_detection::CollisionResult::ContactMap

Function Documentation

◆ checkInputsProRRT()

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.

Parameters

velocity_scale_factor	How much to scale the velocity of the trajectory, relative to the maximum robot velocity defined in configs.
acceleration_scale_factor	How much to scale the acceleration of the trajectory, relative to the maximum robot acceleration defined in configs.
trajectory_sampling_rate	The sampling rate of the output trajectory in Hz.
link_padding	The padding to be used for collision checking, in meters.
keep_orientation	Whether to keep the orientation of the robot's end effector fixed during planning.
keep_orientation_tolerance	The angle tolerance to use for the orientation constraint.

Returns: an optional string in case of invalid inputs, or nullptr otherwise.

◆ collisionValidationFunction()

bool pro_rrt::collisionValidationFunction	(	const moveit::core::JointModelGroup &	group,
		const Eigen::VectorXd &	goal_positions,
		planning_scene::PlanningScene &	planning_scene
	)

Validate a joint-space configuration by checking for collisions in the given planning scene.

This function sets the joint positions of the robot model in the input planning scene to the input goal_positions and performs a collision check. The collision check is performed against the robot's self-collision and the environment. The link padding set in the planning scene is taken into account in both collision checks.

Parameters

group	Joint model group associated with `goal_positions`.
goal_positions	Joint-space configuration to validate.
planning_scene	Planning scene to perform the collision check against.

Returns: True if the input goal_positions are collision-free in the input planning_scene, false otherwise.

◆ createPlanarOrientationConstraint()

Constraints pro_rrt::createPlanarOrientationConstraint	(	const moveit::core::LinkModel *	link,
		double	angle_tolerance
	)

Create planar orientation constraints for a set of links.

Parameters

link	The link to constrain.
angle_tolerance	The angle tolerance to use for the orientation constraint.

Returns: The planar orientation constraint.

◆ createPlanarOrientationConstraints()

std::vector< Constraints > pro_rrt::createPlanarOrientationConstraints	(	const moveit::core::JointModelGroup &	joint_model_group,
		const std::vector< std::string > &	constrained_link_names,
		double	angle_tolerance
	)

Create planar orientation constraints for a set of links.

Parameters

joint_model_group	The joint model group to define constraints for.
constrained_link_names	The names of the links to constrain.
angle_tolerance	The angle tolerance to use for the orientation constraint.

Returns: The planar orientation constraints.

◆ planTrajectoryToJointGoal() [1/2]

tl::expected< trajectory_msgs::msg::JointTrajectory, PlanningError > pro_rrt::planTrajectoryToJointGoal	(	const moveit::core::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,
		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.

Parameters

group	Joint model group to plan motion for.
initial_joint_positions	The initial joint positions of `group`.
goal_joint_positions	The desired goal joint positions for `group`.
rrt_params	Configuration parameters for the RRT planner.
constraints	The kinematic constraints to take into account during planning.
trajectory_params	Parameters for the trajectory generation.
planning_scene	The planning scene to plan in, i.e. the obstacles around the robot.

Returns: the planned trajectory as a trajectory_msgs::msg::JointTrajectory if one is found, or a PlanningError if the planning fails.

◆ planTrajectoryToJointGoal() [2/2]

tl::expected< trajectory_msgs::msg::JointTrajectory, PlanningError > pro_rrt::planTrajectoryToJointGoal	(	const moveit::core::JointModelGroup &	group,
		const moveit::core::RobotState &	start_state,
		const moveit::core::RobotState &	goal_state,
		const RRTParams &	rrt_params,
		const std::vector< Constraints > &	constraints,
		const TrajectoryParams &	trajectory_params,
		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.

Parameters

group	Joint model group to plan motion for.
start_state	The start state of the robot.
goal_state	The goal state of the robot.
rrt_params	Configuration parameters for the RRT planner.
constraints	The kinematic constraints to take into account during planning.
trajectory_params	Parameters for the trajectory generation.
planning_scene	The planning scene to plan in, i.e. the obstacles around the robot.

Returns: the planned trajectory as a trajectory_msgs::msg::JointTrajectory if one is found, or a PlanningError if the planning fails.

Variable Documentation

◆ kTestGroup

constexpr char pro_rrt::kTestGroup[] = "panda_arm"

constexpr

◆ kTestRobot

constexpr char pro_rrt::kTestRobot[] = "panda"

constexpr

Classes

Typedefs

Functions

Variables

Typedef Documentation

◆ ContactMap

Function Documentation

◆ checkInputsProRRT()

◆ collisionValidationFunction()

◆ createPlanarOrientationConstraint()

◆ createPlanarOrientationConstraints()

◆ planTrajectoryToJointGoal() [1/2]

◆ planTrajectoryToJointGoal() [2/2]

Variable Documentation

◆ kTestGroup

◆ kTestRobot