sdf_repulsion_task.hpp File Reference

#include <span>
#include <vector>
#include <Eigen/Core>
#include <moveit_pro_base/robot_model/joint_model_group.hpp>
#include <moveit_pro_base/robot_model/link_model.hpp>
#include <moveit_pro_base/robot_state/robot_state.hpp>

Include dependency graph for sdf_repulsion_task.hpp:

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

Classes
struct	cartesian_planning::SdfControlPoint
	A single collision proxy that the SDF nullspace task should push away from obstacles. More...
struct	cartesian_planning::SdfRepulsionParameters
	Tunables for the SDF repulsion nullspace task. More...

Namespaces
namespace	moveit_pro
namespace	moveit_pro::base
namespace	moveit_pro::base::distance_field
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.