path_utils.hpp File Reference

#include <moveit_pro_base/planning_scene/planning_scene.hpp>
#include <moveit_pro_base/robot_model/joint_model_group.hpp>
#include <moveit_pro_base/robot_state/robot_state.hpp>
#include <tl_expected/expected.hpp>
#include "cartesian_planning/types.hpp"

Include dependency graph for path_utils.hpp:

This graph shows which files directly or indirectly include this file:

Classes
struct	cartesian_planning::PathCollisionInfo
	Struct to hold information about path collisions. More...
struct	cartesian_planning::CollisionCheckOptions
	Contains options for path collision checking. More...

Namespaces
namespace	cartesian_planning

Functions
tl::expected< std::vector< Eigen::VectorXd >, std::string >	cartesian_planning::downsamplePath (const moveit_pro::base::JointModelGroup &group, const JointSpacePath &path, const moveit_pro::base::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.
tl::expected< JointSpacePath, std::string >	cartesian_planning::interpolateJointPath (const JointSpacePath &path, double max_joint_step)
	Densifies a joint-space path by linear interpolation, bounded by a per-joint step.
bool	cartesian_planning::isPathInCollision (const moveit_pro::base::JointModelGroup &group, const JointSpacePath &path, const CollisionCheckOptions &options, moveit_pro::base::planning_scene::PlanningScene &planning_scene, PathCollisionInfo &collision_info)
	Checks if a given path is in collision.
tl::expected< Path, std::string >	cartesian_planning::computeTipPathFromJointSpacePath (moveit_pro::base::RobotState &robot_state, const moveit_pro::base::JointModelGroup &group, const moveit_pro::base::LinkModel &tip_link, const Eigen::Isometry3d &tip_offset, const JointSpacePath &joint_path)
	Compute the Cartesian path traced by a tip link as the robot moves through a joint-space path.