default_planner_request_adapters Namespace Reference

Classes
class	AddRuckigTrajectorySmoothing
	Use ruckig (https://github.com/pantor/ruckig) to adapt the trajectory to be jerk-constrained and time-optimal. More...
class	AddTimeOptimalParameterization
	This adapter uses the time-optimal trajectory generation method. More...
class	Empty
	Empty adapter that just calls the planner. More...
class	FixStartStateBounds
	Fix start state bounds adapter fixes the start state to be within the joint limits specified in the URDF. More...
class	FixStartStateCollision
	This fix start state collision adapter will attempt to sample a new collision-free configuration near a specified configuration (in collision) by perturbing the joint values by a small amount. More...
class	FixStartStatePathConstraints
	This fix start state collision adapter will attempt to sample a new collision-free configuration near a specified configuration (in collision) by perturbing the joint values by a small amount. More...
class	FixWorkspaceBounds
	This fix workspace bounds adapter will specify a default workspace for planning: a cube of size 10 m x 10 m x 10 m. This workspace will only be specified if the planning request to the planner does not have these fields filled in. More...
class	ResolveConstraintFrames