path_utils.hpp File Reference

#include <moveit/planning_scene/planning_scene.hpp>
#include <moveit/robot_model/joint_model_group.hpp>
#include <moveit/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::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.