sdf_repulsion_task.cpp File Reference

#include "cartesian_planning/sdf_repulsion_task.hpp"
#include <cmath>
#include <Eigen/Geometry>
#include <moveit_pro_base/distance_field/distance_field.hpp>
#include <moveit_pro_macros/macros.hpp>
#include "cartesian_planning/damped_least_squares_inverse.hpp"
#include "cartesian_planning/jacobian.hpp"

Include dependency graph for sdf_repulsion_task.cpp:

Namespaces
namespace	cartesian_planning

Functions
Eigen::VectorXd	cartesian_planning::sdfRepulsionTask (const moveit_pro::base::distance_field::DistanceField &sdf, moveit_pro::base::RobotState &fk_state, const moveit_pro::base::JointModelGroup &group, const Eigen::VectorXd &current_joint_values, std::span< const SdfControlPoint > control_points, const SdfRepulsionParameters &params)
	Compute a nullspace joint-space nudge that pushes each control-point sphere away from the nearest obstacle in sdf.