|
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]
|
|
PlannerStatus | OpenRAVE::planningutils::_PlanActiveDOFTrajectory (TrajectoryBasePtr traj, RobotBasePtr probot, bool hastimestamps, dReal fmaxvelmult, dReal fmaxaccelmult, const std::string &plannername, bool bsmooth, const std::string &plannerparameters) |
|
PlannerStatus | OpenRAVE::planningutils::_PlanTrajectory (TrajectoryBasePtr traj, bool hastimestamps, dReal fmaxvelmult, dReal fmaxaccelmult, const std::string &plannername, bool bsmooth, const std::string &plannerparameters) |
|
static void | OpenRAVE::planningutils::diffstatefn (std::vector< dReal > &q1, const std::vector< dReal > &q2, const std::vector< int > vrotaxes) |
|
static void | OpenRAVE::planningutils::_SetTransformBody (std::vector< dReal >::const_iterator itvalues, KinBodyPtr pbody, int index, int affinedofs, const Vector &vActvAffineRotationAxis) |
|
static void | OpenRAVE::planningutils::_GetTransformBody (std::vector< dReal >::iterator itvalues, KinBodyPtr pbody, int index, int affinedofs, const Vector &vActvAffineRotationAxis) |
|
static dReal | OpenRAVE::planningutils::_ComputeTransformBodyDistance (std::vector< dReal >::const_iterator itvalues0, std::vector< dReal >::const_iterator itvalues1, KinBodyPtr pbody, int index, int affinedofs, const Vector &vActvAffineRotationAxis) |
|
void | OpenRAVE::planningutils::_SetAffineState (const std::vector< dReal > &v, const std::list< boost::function< void(std::vector< dReal >::const_iterator) > > &listsetfunctions) |
|
void | OpenRAVE::planningutils::_GetAffineState (std::vector< dReal > &v, size_t expectedsize, const std::list< boost::function< void(std::vector< dReal >::iterator) > > &listgetfunctions) |
|
dReal | OpenRAVE::planningutils::_ComputeAffineDistanceMetric (const std::vector< dReal > &v0, const std::vector< dReal > &v1, const std::list< boost::function< dReal(std::vector< dReal >::const_iterator, std::vector< dReal >::const_iterator) > > &listdistfunctions) |
|
static PlannerStatus | OpenRAVE::planningutils::_PlanAffineTrajectory (TrajectoryBasePtr traj, const std::vector< dReal > &maxvelocities, const std::vector< dReal > &maxaccelerations, bool hastimestamps, const std::string &plannername, bool bsmooth, const std::string &plannerparameters) |
|
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]
|
|
static std::string | OpenRAVE::planningutils::GetPlannerFromInterpolation (TrajectoryBasePtr traj, const std::string &forceplanner=std::string()) |
|
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.
|
|