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構成 | ネームスペース | 型定義 | 関数
planningutils.h

(2013-03-18 10:33:00 +0900, commit:334d202)

Planning related utilities likes samplers, distance metrics, etc. [詳細]

#include <openrave/openrave.h>
planningutils.hのインクルード依存関係図
このグラフは、どのファイルから直接、間接的にインクルードされているかを示しています。

ソースコードを見る。

構成

class  OpenRAVE::planningutils::ActiveDOFTrajectorySmoother
 Smoother planner for the trajectory points to avoiding collisions by extracting and using the currently set active dofs of the robot. [詳細]
 
class  OpenRAVE::planningutils::ActiveDOFTrajectoryRetimer
 Retimer planner the trajectory points by extracting and using the currently set active dofs of the robot. [multi-thread safe] [詳細]
 
class  OpenRAVE::planningutils::AffineTrajectoryRetimer
 Retimer planner the trajectory points consisting of affine transformation values while avoiding collisions. [multi-thread safe] [詳細]
 
class  OpenRAVE::planningutils::DHParameter
 represents the DH parameters for one joint [詳細]
 
class  OpenRAVE::planningutils::LineCollisionConstraint
 Line collision. [詳細]
 
class  OpenRAVE::planningutils::SimpleDistanceMetric
 simple distance metric based on joint weights [詳細]
 
class  OpenRAVE::planningutils::SimpleNeighborhoodSampler
 samples the neighborhood of a configuration using the configuration space distance metric and sampler. [詳細]
 
class  OpenRAVE::planningutils::ManipulatorIKGoalSampler
 Samples numsamples of solutions and each solution to vsolutions. [詳細]
 
struct  OpenRAVE::planningutils::ManipulatorIKGoalSampler::SampleInfo
 

ネームスペース

namespace  OpenRAVE
 The entire OpenRAVE library.
 
namespace  OpenRAVE::planningutils
 

型定義

typedef boost::shared_ptr
< ActiveDOFTrajectorySmoother > 
OpenRAVE::planningutils::ActiveDOFTrajectorySmootherPtr
 
typedef boost::shared_ptr
< ActiveDOFTrajectoryRetimer > 
OpenRAVE::planningutils::ActiveDOFTrajectoryRetimerPtr
 
typedef boost::shared_ptr
< AffineTrajectoryRetimer > 
OpenRAVE::planningutils::AffineTrajectoryRetimerPtr
 
typedef boost::shared_ptr
< ManipulatorIKGoalSampler > 
OpenRAVE::planningutils::ManipulatorIKGoalSamplerPtr
 

関数

OPENRAVE_API int OpenRAVE::planningutils::JitterActiveDOF (RobotBasePtr robot, int nMaxIterations=5000, dReal fRand=0.03f, const PlannerBase::PlannerParameters::NeighStateFn &neighstatefn=PlannerBase::PlannerParameters::NeighStateFn())
 Jitters the active joint angles of the robot until it escapes collision.
 
OPENRAVE_API bool OpenRAVE::planningutils::JitterTransform (KinBodyPtr pbody, float fJitter, int nMaxIterations=1000)
 Jitters the transform of a body until it escapes collision.
 
OPENRAVE_API void OpenRAVE::planningutils::VerifyTrajectory (PlannerBase::PlannerParametersConstPtr parameters, TrajectoryBaseConstPtr trajectory, dReal samplingstep=0.002)
 validates a trajectory with respect to the planning constraints. [multi-thread safe]
 
OPENRAVE_API PlannerStatus OpenRAVE::planningutils::SmoothActiveDOFTrajectory (TrajectoryBasePtr traj, RobotBasePtr robot, dReal fmaxvelmult=1, dReal fmaxaccelmult=1, const std::string &plannername="", const std::string &plannerparameters="")
 Smooth the trajectory points to avoiding collisions by extracting and using the currently set active dofs of the robot. [multi-thread safe]
 
OPENRAVE_API PlannerStatus OpenRAVE::planningutils::SmoothAffineTrajectory (TrajectoryBasePtr traj, const std::vector< dReal > &maxvelocities, const std::vector< dReal > &maxaccelerations, const std::string &plannername="", const std::string &plannerparameters="")
 Smooth the trajectory points consisting of affine transformation values while avoiding collisions. [multi-thread safe]
 
OPENRAVE_API PlannerStatus OpenRAVE::planningutils::SmoothTrajectory (TrajectoryBasePtr traj, dReal fmaxvelmult=1, dReal fmaxaccelmult=1, const std::string &plannername="", const std::string &plannerparameters="")
 Smooth the trajectory points to avoiding collisions by extracting and using the positional data from the trajectory. [multi-thread safe]
 
OPENRAVE_API PlannerStatus OpenRAVE::planningutils::RetimeActiveDOFTrajectory (TrajectoryBasePtr traj, RobotBasePtr robot, bool hastimestamps=false, dReal fmaxvelmult=1, dReal fmaxaccelmult=1, const std::string &plannername="", const std::string &plannerparameters="")
 Retime the trajectory points by extracting and using the currently set active dofs of the robot. [multi-thread safe]
 
OPENRAVE_API PlannerStatus OpenRAVE::planningutils::RetimeAffineTrajectory (TrajectoryBasePtr traj, const std::vector< dReal > &maxvelocities, const std::vector< dReal > &maxaccelerations, bool hastimestamps=false, const std::string &plannername="", const std::string &plannerparameters="")
 Retime the trajectory points consisting of affine transformation values while avoiding collisions. [multi-thread safe]
 
OPENRAVE_API PlannerStatus OpenRAVE::planningutils::RetimeTrajectory (TrajectoryBasePtr traj, bool hastimestamps=false, dReal fmaxvelmult=1, dReal fmaxaccelmult=1, const std::string &plannername="", const std::string &plannerparameters="")
 Retime the trajectory points using all the positional data from the trajectory. [multi-thread safe]
 
OPENRAVE_API void OpenRAVE::planningutils::InsertActiveDOFWaypointWithRetiming (int index, const std::vector< dReal > &dofvalues, const std::vector< dReal > &dofvelocities, TrajectoryBasePtr traj, RobotBasePtr robot, dReal fmaxvelmult=1, dReal fmaxaccelmult=1, const std::string &plannername="")
 Inserts a waypoint into a trajectory at the index specified, and retimes the segment before and after the trajectory. [multi-thread safe]
 
OPENRAVE_API void OpenRAVE::planningutils::InsertWaypointWithSmoothing (int index, const std::vector< dReal > &dofvalues, const std::vector< dReal > &dofvelocities, TrajectoryBasePtr traj, dReal fmaxvelmult=1, dReal fmaxaccelmult=1, const std::string &plannername="")
 insert a waypoint in a timed trajectory and smooth so that the trajectory always goes through the waypoint at the specified velocity.
 
OPENRAVE_API void OpenRAVE::planningutils::ConvertTrajectorySpecification (TrajectoryBasePtr traj, const ConfigurationSpecification &spec)
 convert the trajectory and all its points to a new specification
 
OPENRAVE_API void OpenRAVE::planningutils::ComputeTrajectoryDerivatives (TrajectoryBasePtr traj, int maxderiv)
 computes the trajectory derivatives and modifies the trajetory configuration to store them.
 
OPENRAVE_API TrajectoryBasePtr OpenRAVE::planningutils::ReverseTrajectory (TrajectoryBaseConstPtr traj)
 returns a new trajectory with the order of the waypoints and times reversed.
 
OPENRAVE_API TrajectoryBasePtr OpenRAVE::planningutils::MergeTrajectories (const std::list< TrajectoryBaseConstPtr > &listtrajectories)
 merges the contents of multiple trajectories into one so that everything can be played simultaneously.
 
OPENRAVE_API void OpenRAVE::planningutils::GetDHParameters (std::vector< DHParameter > &vparameters, KinBodyConstPtr pbody)
 returns the Denavit-Hartenberg parameters of the kinematics structure of the body.
 

説明

Planning related utilities likes samplers, distance metrics, etc.

This file is optional and not automatically included with openrave.h

planningutils.h で定義されています。