problem_description.h File Reference

#include <trajopt/common.hpp>
#include <trajopt/json_marshal.hpp>
#include <trajopt_sco/optimizers.hpp>
#include <moveit/robot_model/robot_model.h>
#include <moveit/planning_scene/planning_scene.h>
#include <memory>

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Classes
struct	trajopt_interface::BasicInfo
struct	trajopt_interface::InitInfo
struct	trajopt_interface::TermInfo
struct	trajopt_interface::ProblemInfo
class	trajopt_interface::TrajOptProblem
struct	trajopt_interface::CartPoseTermInfo
	This term is used when the goal frame is fixed in cartesian space. More...
struct	trajopt_interface::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	trajopt_interface::JointVelTermInfo

Namespaces
	trajopt_interface

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

Functions
	trajopt_interface::MOVEIT_CLASS_FORWARD (TermInfo)
	trajopt_interface::MOVEIT_CLASS_FORWARD (TrajOptProblem)
	trajopt_interface::MOVEIT_CLASS_FORWARD (JointPoseTermInfo)
	trajopt_interface::MOVEIT_CLASS_FORWARD (CartPoseTermInfo)
	trajopt_interface::MOVEIT_CLASS_FORWARD (JointVelTermInfo)
TrajOptProblemPtr	trajopt_interface::ConstructProblem (const ProblemInfo &)
void	trajopt_interface::generateInitialTrajectory (const ProblemInfo &pci, const std::vector< double > &current_joint_values, trajopt::TrajArray &init_traj)