generate_state_database.cpp File Reference

#include <moveit/ompl_interface/ompl_interface.hpp>
#include <moveit/ompl_interface/detail/constraints_library.hpp>
#include <moveit/robot_model_loader/robot_model_loader.hpp>
#include <moveit/planning_scene_monitor/planning_scene_monitor.hpp>
#include <moveit/robot_state/conversions.hpp>
#include <moveit/kinematic_constraints/utils.hpp>
#include <moveit/utils/message_checks.hpp>
#include <boost/math/constants/constants.hpp>
#include <sstream>

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Classes
struct	GenerateStateDatabaseParameters

Functions
void	computeDB (const rclcpp::Node::SharedPtr &node, const planning_scene::PlanningScenePtr &scene, struct GenerateStateDatabaseParameters &params)
int	main (int argc, char **argv)

Function Documentation

computeDB()

void computeDB	(	const rclcpp::Node::SharedPtr &	node,
		const planning_scene::PlanningScenePtr &	scene,
		struct GenerateStateDatabaseParameters &	params
	)

Definition at line 138 of file generate_state_database.cpp.

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main()

int main	(	int	argc,
		char **	argv
	)

Generates a database of states that follow the given constraints. An example of the constraint yaml that should be loaded to rosparam: """ name: constraint_name constraint_ids: [constraint_1, constraint_2] constraints: constraint_1: type: orientation frame_id: world link_name: tool0 orientation: [0, 0, 0] # [r, p, y] tolerances: [0.01, 0.01, 3.15] weight: 1.0 constraint_2: type: position frame_id: base_link link_name: tool0 target_offset: [0.1, 0.1, 0.1] # [x, y, z] region: x: [0.1, 0.4] # [min, max] y: [0.2, 0.3] z: [0.1, 0.6] weight: 1.0 """

Definition at line 198 of file generate_state_database.cpp.

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