API Reference

• motion_planning_types
  • motion_planning_types::AppendCollisionConcept
    • manipulablesFromWorkcell
    • rManipulables
    • oManipulables
    • touchingLinks
    • touchingObstacles
    • rObjects
    • oObjects
    • objectSettings
  • motion_planning_types::CartesianInterpolateConfig
    • Type_t
      • UNKNOWN
      • R3XSO3
      • SE3
    • type
    • nPoints
  • CheckPathCollisionType_t
    • UNKNOWN
    • CHECK_ALL_POINTS
    • CHECK_UNTIL_COLLISION
  • motion_planning_types::Goal
    • Type_t
      • UNKNOWN
      • ROBOT_STATE
      • TRANSFORM
    • robotState
    • tfStamped
    • type
  • motion_planning_types::IKConfig
    • Type_t
      • UNKNOWN
      • MANIPULABILITY1
      • MANIPULABILITY2
      • DISTANCE
    • solveType
    • checkCollision
    • maxOutputNum
    • timeoutSec
  • motion_planning_types::ParameterizeConfig
    • Type_t
      • TOTG
      • TOPPRA
      • IPTP
    • type
    • jointVelocityConstraint
    • jointAccelerationConstraint
    • timeIncrement
    • maxPathDeviation
    • toppraConfig
    • iptpConfig
  • motion_planning_types::ToppraConfig
    • frameAccelerationLinkNames
    • frameAccelerationConstraints
    • baseWrenchConstraint
    • baseWrenchLinkName
    • torqueConstraint
  • motion_planning_types::TorqueConstraint
    • use
    • limit
    • payload
  • motion_planning_types::ComputeMotionPlanRequest
    • updateObjects
    • appendCollisionConcept
    • startState
    • goals
    • pathPlanTypes
    • fixedState
    • jointPositionConstraint
    • doParameterize
    • ikConfig
    • jointPlanConfig
    • cartesian_interpolate_config
    • jointCoupledPlanConfig
    • parameterizeConfig
  • motion_planning_types::ComputeIKRequest
    • updateObjects
    • appendCollisionConcept
    • rootToTipTf
    • referenceState
    • fixedState
    • jointPositionConstraint
    • config
  • ErrorCode_t
    • SUCCESS
    • PARTIAL_SUCCESS
    • FAILURE
    • PLANNING_FAILED
    • MOTION_PLAN_INVALIDATED_BY_ENVIRONMENT_CHANGE
    • TIMED_OUT
    • GOALS_AND_PLAN_TYPES_SIZE_NOT_EQUAL
    • CART_INTP_RETURNS_MORE_THAN_N_POINTS
    • START_STATE_IN_COLLISION
    • START_STATE_VIOLATES_PATH_CONSTRAINTS
    • COUPLED_START_STATE_NOT_VALID
    • COUPLED_START_STATE_IN_COLLISION
    • GOAL_IN_COLLISION
    • GOAL_VIOLATES_PATH_CONSTRAINTS
    • INVALID_JOINT_CONSTRAINT
    • INVALID_ROBOT_STATE
    • INVALID_LINK_NAME
    • INVALID_OBJECT_NAME
    • INVALID_GOAL_TYPE
    • UNSPECIFIED_GOAL_TYPE
    • INVALID_PATH
    • START_AND_GOAL_STATE_TOO_CLOSE
    • START_AND_GOAL_POSE_TOO_CLOSE
    • PARAMETERIZATION_FAILED
    • NO_IK_SOLUTION
    • FAILED_TO_UPDATE_OBJECTS
• core_robot
  • core_robot::Robot
    • Robot()
    • Robot()
    • ~Robot()
    • GetKdlTree()
    • GetKdlChain()
    • GetKdlChain()
    • GetKdlChain()
    • GetHardLimit()
    • GetJointLimit()
    • GetJointState()
    • GetCollisionObjects()
    • GetCollisionObjects()
    • GetTf()
    • GetUrdfModel()
    • GetAllowedCollisionMatrix()
    • SetAllowedCollisionMatrix()
    • AddAllowedCollision()
    • RemoveAllowedCollision()
    • GetCollisionObjectsVisualCopy()
    • UpdateTf()
    • UpdateTf()
    • IsJointStateValid()
    • HasMimicJoint()
    • IsMimicJointLimitValid()
    • HasCoupledJointLimit()
    • IsCoupledJointLimitValid()
    • IsAllJointLimitValid()
    • HasWorkspaceConstraints()
    • SampleRandomJointState()
    • IsWorkspaceConstraintsValid()
    • IsWorkspaceConstraintsValid()
    • Init()
    • AnotherInit()
  • core_robot::WorkspaceConstraint
    • Type_t
      • UNKNOWN
      • BOX
      • SPHERE
      • CYLINDER
    • CylinderDimensionsAccessor_t
      • CYLINDER_HEIGHT
      • CYLINDER_RADIUS
    • SphereDimensionsAccessor_t
      • SPHERE_RADIUS
    • BoxDimensionsAccessor_t
      • BOX_X
      • BOX_Y
      • BOX_Z
    • IsInConstraint()
    • rootFrame
    • tipFrame
    • type
    • dimensions
  • core_robot::RobotInit
    • kdlTree
    • allJointLimit
    • collisionObjects
    • allowedCollisionMatrix
    • mimicsMap
    • coupledJointLimit
    • workspaceConstraints
  • core_robot::MimicJoint
    • MimicJoint()
    • MimicJoint()
    • jointName
    • mimicedJointName
    • multiplier
    • offset
    • mimicingJointStateIdx
    • mimicJointLimitIdx
• core_arm_planning
  • core_arm_planning::PathPlanner
    • PathPlanner()
    • CheckAngularTolerance()
    • PlanInJointSpace()
    • InterpolateInCartesianSpace()
    • ToolMotionToJointMotion()
    • MergePaths()
    • RepairPath()
    • PlanSplicedPath()
    • PlanSplicedPath()
    • PlanSplicedPath()
    • UpdateWorld()
    • UpdateWorld()
    • ConfigureOmplPathPlanner()
  • core_arm_planning::KinematicsSolver
    • KinematicsSolver()
    • DoIK()
    • DoIK()
    • DoIK()
    • DoIK()
    • DoIK()
    • DoIK()
    • DoIK()
    • FilterValidGoalStates()
    • DoIKVel()
    • DoFK()
    • DoArmFK()
    • DoFKVel()
    • GetManipulability()
    • GetManipulation2Manipulability()
    • InverseDynamics()
  • core_arm_planning::CollisionManager
    • CollisionManager()
    • UpdateRobotTF()
    • QuickCheckSelfCollision()
    • QuickCheckGraspablesCollision()
    • QuickCheckObstaclesCollision()
    • QuickCheckCollision()
    • QuickCheckCollision()
    • QuickCheckCollision()
    • FullCheckCollision()
    • FullCheckCollision()
    • FullCheckAndPrintCollision()
    • UpdateACM()
    • UpdateObstacles()
    • UpdateGraspables()
  • PlanningResult
    • SUCCESS
    • INVALID_START
    • INVALID_GOAL
    • TIMEOUT
    • NO_SOLUTION
• core_motion_planning
  • core_motion_planning::ServerManager
    • Init()
    • AddServers()
    • AddServer()
    • UpdateServers()
    • WaitObtainAvailableServer()
    • WaitObtainAvailableServer()
    • ReturnServer()
  • core_motion_planning::KinematicsSolver
    • KinematicsSolver()
    • ~KinematicsSolver()
    • KinematicsSolver()
    • operator=()
    • KinematicsSolver()
    • operator=()
    • Init()
    • Init()
    • GetManipulability()
    • DoFK()
    • DoFKVel()
    • DoIK()
  • core_motion_planning::MotionServer
    • Init()
    • pathPlanner
    • parameterizer
  • core_motion_planning::IKServer
    • Init()
    • kinematicsSolver
  • core_motion_planning::FKServer
    • Init()
    • kinematicsSolver
  • core_motion_planning::ParameterizerServer
    • Init()
    • parameterizer
  • core_motion_planning::CollisionServer
    • Init()
    • Update()
    • AppendCollisionObjects()
    • QuickCheckCollision()
    • CheckCollisionWithPrintIfFail()
    • FullCheckCollision()
  • core_motion_planning::PathPlanner
    • PathPlanner()
    • ~PathPlanner()
    • PathPlanner()
    • operator=()
    • PathPlanner()
    • operator=()
    • Init()
    • DoJointPlan()
    • DoCartesianInterpolate()
    • DoJointCoupledPlan()
    • UpdateWorld()
    • CheckConstraints()
    • GoalConversion()
• motion_planning
  • motion_planning::MotionPlanningImpl
    • MotionPlanningImpl()
    • ~MotionPlanningImpl()
    • Init()
    • GetIkRefJointState()
    • ReturnServer()
    • UpdateObjectsFromWorkcell()
    • WaitAndObtainServer()
    • GetQosServiceQueueDepth()
    • TrajectoryToJointStates()
    • node
    • armJointLimit_