trajopt_interface Namespace Reference

Classes
struct	CartPoseErrCalculator
	Used to calculate the error for StaticCartPoseTermInfo This is converted to a cost or constraint using TrajOptCostFromErrFunc or TrajOptConstraintFromErrFunc. More...
struct	JointVelErrCalculator
struct	JointVelJacobianCalculator
struct	BasicInfo
struct	InitInfo
struct	TermInfo
struct	ProblemInfo
class	TrajOptProblem
struct	CartPoseTermInfo
	This term is used when the goal frame is fixed in cartesian space. More...
struct	JointPoseTermInfo
	Joint space position cost Position operates on a single point (unlike velocity, etc). This is b/c the primary usecase is joint-space position waypoints. More...
struct	JointVelTermInfo
class	TrajOptInterface
class	TrajOptPlanningContext
class	TrajOptPlannerManager

Enumerations
enum	TermType { TT_COST = 0x1 , TT_CNT = 0x2 , TT_USE_TIME = 0x4 }

Functions
Eigen::Vector3d	quaternionRotationVector (const Eigen::Matrix3d &matrix)
	Extracts the vector part of quaternion. More...
Eigen::VectorXd	concatVector (const Eigen::VectorXd &vector_a, const Eigen::VectorXd &vector_b)
	Appends b to a of type VectorXd. More...
template<typename T >
std::vector< T >	concatVector (const std::vector< T > &vector_a, const std::vector< T > &vector_b)
	Appends b to a of type T. More...
	MOVEIT_CLASS_FORWARD (TermInfo)
	MOVEIT_CLASS_FORWARD (TrajOptProblem)
	MOVEIT_CLASS_FORWARD (JointPoseTermInfo)
	MOVEIT_CLASS_FORWARD (CartPoseTermInfo)
	MOVEIT_CLASS_FORWARD (JointVelTermInfo)
TrajOptProblemPtr	ConstructProblem (const ProblemInfo &)
void	generateInitialTrajectory (const ProblemInfo &pci, const std::vector< double > &current_joint_values, trajopt::TrajArray &init_traj)
	MOVEIT_CLASS_FORWARD (TrajOptInterface)
void	callBackFunc (sco::OptProb *opt_prob, sco::OptResults &opt_res)
	MOVEIT_CLASS_FORWARD (TrajOptPlanningContext)

Enumeration Type Documentation

TermType

enum trajopt_interface::TermType

Enumerator
TT_COST
TT_CNT
TT_USE_TIME

Definition at line 58 of file problem_description.h.

Function Documentation

callBackFunc()

void trajopt_interface::callBackFunc	(	sco::OptProb *	opt_prob,
		sco::OptResults &	opt_res
	)

Definition at line 458 of file trajopt_interface.cpp.

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concatVector() [1/2]

Eigen::VectorXd trajopt_interface::concatVector ( const Eigen::VectorXd &  vector_a, const Eigen::VectorXd &  vector_b  )

inline

Appends b to a of type VectorXd.

Definition at line 22 of file kinematic_terms.h.

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concatVector() [2/2]

template<typename T >

std::vector<T> trajopt_interface::concatVector ( const std::vector< T > &  vector_a, const std::vector< T > &  vector_b  )

inline

Appends b to a of type T.

Definition at line 34 of file kinematic_terms.h.

ConstructProblem()

TrajOptProblemPtr trajopt_interface::ConstructProblem

(

const ProblemInfo &

pci

)

Definition at line 138 of file problem_description.cpp.

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generateInitialTrajectory()

void trajopt_interface::generateInitialTrajectory	(	const ProblemInfo &	pci,
		const std::vector< double > &	current_joint_values,
		trajopt::TrajArray &	init_traj
	)

Definition at line 548 of file problem_description.cpp.

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MOVEIT_CLASS_FORWARD() [1/7]

trajopt_interface::MOVEIT_CLASS_FORWARD

(

CartPoseTermInfo

)

MOVEIT_CLASS_FORWARD() [2/7]

trajopt_interface::MOVEIT_CLASS_FORWARD

(

JointPoseTermInfo

)

MOVEIT_CLASS_FORWARD() [3/7]

trajopt_interface::MOVEIT_CLASS_FORWARD

(

JointVelTermInfo

)

MOVEIT_CLASS_FORWARD() [4/7]

trajopt_interface::MOVEIT_CLASS_FORWARD

(

TermInfo

)

MOVEIT_CLASS_FORWARD() [5/7]

trajopt_interface::MOVEIT_CLASS_FORWARD

(

TrajOptInterface

)

MOVEIT_CLASS_FORWARD() [6/7]

trajopt_interface::MOVEIT_CLASS_FORWARD

(

TrajOptPlanningContext

)

MOVEIT_CLASS_FORWARD() [7/7]

trajopt_interface::MOVEIT_CLASS_FORWARD

(

TrajOptProblem

)

quaternionRotationVector()

Eigen::Vector3d trajopt_interface::quaternionRotationVector ( const Eigen::Matrix3d &  matrix )

inline

Extracts the vector part of quaternion.

Definition at line 12 of file kinematic_terms.h.