path_utils.cpp File Reference

#include "cartesian_planning/path_utils.hpp"
#include <Eigen/Geometry>
#include <vector>

Include dependency graph for path_utils.cpp:

Namespaces
namespace	cartesian_planning

Functions
tl::expected< std::vector< Eigen::VectorXd >, std::string >	cartesian_planning::downsamplePath (const moveit::core::JointModelGroup &group, const JointSpacePath &path, const moveit::core::RobotState &reference_robot_state, double joint_space_step, double cartesian_space_step, std::vector< std::size_t > *mapping=nullptr)
	Downsamples a given path to a given resolution.
bool	cartesian_planning::isPathInCollision (const moveit::core::JointModelGroup &group, const JointSpacePath &path, const CollisionCheckOptions &options, planning_scene::PlanningScene &planning_scene, PathCollisionInfo &collision_info)
	Checks if a given path is in collision.