Main namespace. Contains all library classes and functions. More...

Namespaces
	color

	constants

	darts
	DART-based robot modeling and planning.

	hypercube

	IO
	File and ROS Input / Output operations.

	log
	Logging functions.

	movegroup
	Move group interaction related classes and features.

	OMPL
	OMPL specific planners and features.

	openrave

	opt

	RNG
	Collection of methods relating to random sampling.

	TF
	Collection of methods relating to transforms and transform math.

Classes
struct	PlanningQuery
	A container structure for all elements needed in a planning query, plus an identifying name. More...

class	PlanData
	Detailed statistics and metrics computed from profiling a planner's motion planning. More...

class	PlanDataSet
	Detailed statistics about a benchmark of multiple queries. More...

class	Profiler

class	Experiment
	A helper class for benchmarking that controls running multiple queries. More...

class	PlanDataSetOutputter
	An abstract class for outputting benchmark results. More...

class	JSONPlanDataSetOutputter
	A benchmark outputter for storing data in a single JSON file. More...

class	TrajectoryPlanDataSetOutputter
	Benchmark outputter that saves each trajectory from each run to a rosbag file. More...

class	OMPLPlanDataSetOutputter
	Benchmark outputter that saves results into OMPL benchmarking log files. If `ompl_benchmark_statistics.py` is available in your PATH variable, the results are also compiled into a database file. More...

class	MotionRequestBuilder
	A helper class to build motion planning requests for a robowflex::Planner. More...

class	Cob4Robot
	Convenience class that describes the default setup for Care-O-Bot4. Will first attempt to load configuration and description from the robowflex_resources package. See https://github.com/KavrakiLab/robowflex_resources for this package. If this package is not available, then fetch_description / fetch_moveit_config packages will be used. More...

class	FetchRobot
	Convenience class that describes the default setup for Fetch. Will first attempt to load configuration and description from the robowflex_resources package. See https://github.com/KavrakiLab/robowflex_resources for this package. If this package is not available, then fetch_description / fetch_moveit_config packages will be used. More...

class	R2Robot
	Convenience class that describes the default setup for R2 (R2C6 full). More...

class	UR5Robot
	Convenience class that describes the default setup for UR5 (with robotiq gripper and load cell) Will first attempt to load configuration and description from the robowflex_resources package. See https://github.com/KavrakiLab/robowflex_resources for this package. If this package is not available, then ur_description / robotiq packages will be used. More...

class	Geometry
	A class that manages both solid and mesh geometry for various parts of the motion planning system. More...

class	ID
	Adds functionality to uniquely ID a specific class as well as the "version" of that class, managed by an incrementing counter. More...

class	Planner
	An abstract interface to a motion planning algorithm. More...

class	PoolPlanner
	A thread pool of planners P to service requests in a multi-threaded environment simultaneously. More...

class	SimpleCartesianPlanner
	A simple motion planner that uses interpolation of the end-effector in Cartesian space to find a path. Valid configurations are found using IK. This planner is not complete and typically only works for small movements of the end-effector. More...

class	PipelinePlanner
	A motion planner that uses the MoveIt! planning pipeline to load a planner plugin. More...

class	Pool
	A thread pool that can execute arbitrary functions asynchronously. Functions with arguments to be executed are put in the queue through submit(). This returns a Pool::Job that can be used to retrieve the result or cancel the job if the result is no longer needed. More...

class	Robot
	Loads information about a robot and maintains information about a robot's state. More...

class	ParamRobot
	Loads information about a robot from the parameter server. More...

class	Scene
	Wrapper class around the planning scene and collision geometry. More...

class	Trajectory
	The Trajectory class is a wrapper around MoveIt!'s robot_trajectory::RobotTrajectory, with extra convenience functions such interpolation and collision checking. There are also utilities to load and save trajectories from YAML files (toYAMLFile() and fromYAMLFile()). More...

class	Exception
	Exception that contains a message and an error code. More...

class	ROS
	RAII-pattern for starting up ROS. More...

class	TrajOptPlanner
	Robowflex Tesseract TrajOpt Planner. More...

Typedefs
using	RobotPose = std::decay< decltype(std::declval< moveit::core::Transforms >().getTransform("")) >::type
	A pose (point in SE(3)) used in various functions. Defined from what MoveIt! uses. More...

using	RobotPoseVector = std::vector< RobotPose, Eigen::aligned_allocator< RobotPose > >
	A vector of poses. More...

using	PlannerMetric = boost::variant< bool, double, int, std::size_t, std::string >
	Variant type of possible values a run metric could be. More...

using	PathMetric = std::function< double(const robot_state::RobotState &, const robot_state::RobotState &)>
	A metric over robot states. More...

Functions
template<typename M >
M	toMatrix (const RobotPose &pose)
	Convert the Robowflex pose type to another transform type. More...

std::string	toMetricString (const PlannerMetric &metric)
	Convert a planner metric into a string. More...

bool	compareIDs (const ID &a, const ID &b)
	Compare two ID objects. More...

bool	compareIDs (const IDPtr &a, const IDPtr &b)
	Compare two ID objects. More...

bool	compareIDs (const IDConstPtr &a, const IDConstPtr &b)
	Compare two ID objects. More...

bool	compareIDs (const ID &a, const ID::Key &b)
	Compare an ID object to a key. More...

bool	compareIDs (const IDPtr &a, const ID::Key &b)
	Compare an ID object to a key. More...

bool	compareIDs (const IDConstPtr &a, const ID::Key &b)
	Compare an ID object to a key. More...

bool	compareIDs (const ID::Key &a, const ID::Key &b)
	Compare an ID object to a key. More...

void	explode ()
	Trigger a SEGSEGV. More...

Variables
	fetch = rv.robot.Robot("Fetch", "package://robowflex_resources/fetch/robots/fetch.urdf")

	scene

	frame

	cube = scene.get_object("Cube3")

Detailed Description

Main namespace. Contains all library classes and functions.

Typedef Documentation

◆ PathMetric

using robowflex::PathMetric = typedef std::function<double(const robot_state::RobotState &, const robot_state::RobotState &)>

A metric over robot states.

Definition at line 24 of file trajectory.h.

◆ PlannerMetric

using robowflex::PlannerMetric = typedef boost::variant<bool, double, int, std::size_t, std::string>

Variant type of possible values a run metric could be.

Definition at line 33 of file benchmarking.h.

◆ RobotPose

using robowflex::RobotPose = typedef std::decay< decltype( std::declval<moveit::core::Transforms>().getTransform("") ) >::type

A pose (point in SE(3)) used in various functions. Defined from what MoveIt! uses.

Either an Eigen::Affine3d or Eigen::Isometry3d. These are both transforms, and thus code using a RobotPose will generally work for both.

Definition at line 20 of file adapter.h.

◆ RobotPoseVector

using robowflex::RobotPoseVector = typedef std::vector<RobotPose, Eigen::aligned_allocator<RobotPose> >

A vector of poses.

Definition at line 28 of file adapter.h.

Function Documentation

◆ compareIDs() [1/7]

bool robowflex::compareIDs	(	const ID &	a,
		const ID &	b
	)

Compare two ID objects.

Parameters

[in]	a	First object to compare.
[in]	b	Second object to compare.

Returns: True if a and b are the same, false otherwise.

Definition at line 47 of file id.cpp.

 {
     return a == b;
 }

◆ compareIDs() [2/7]

bool robowflex::compareIDs	(	const ID &	a,
		const ID::Key &	b
	)

Compare an ID object to a key.

Parameters

[in]	a	Object to compare.
[in]	b	Key to compare against.

Returns: True if a and b are the same, false otherwise.

Definition at line 62 of file id.cpp.

 {
     return a == b;
 }

◆ compareIDs() [3/7]

bool robowflex::compareIDs	(	const ID::Key &	a,
		const ID::Key &	b
	)

Compare an ID object to a key.

Parameters

[in]	a	Key to compare.
[in]	b	Key to compare against.

Returns: True if a and b are the same, false otherwise.

Definition at line 77 of file id.cpp.

 {
     return a == b;
 }

◆ compareIDs() [4/7]

bool robowflex::compareIDs	(	const IDConstPtr &	a,
		const ID::Key &	b
	)

Compare an ID object to a key.

Parameters

[in]	a	Object to compare.
[in]	b	Key to compare against.

Returns: True if a and b are the same, false otherwise.

Definition at line 72 of file id.cpp.

 {
     return compareIDs(*a, b);
 }

◆ compareIDs() [5/7]

bool robowflex::compareIDs	(	const IDConstPtr &	a,
		const IDConstPtr &	b
	)

Compare two ID objects.

Parameters

[in]	a	First object to compare.
[in]	b	Second object to compare.

Returns: True if a and b are the same, false otherwise.

Definition at line 57 of file id.cpp.

 {
     return compareIDs(*a, *b);
 }

◆ compareIDs() [6/7]

bool robowflex::compareIDs	(	const IDPtr &	a,
		const ID::Key &	b
	)

Compare an ID object to a key.

Parameters

[in]	a	Object to compare.
[in]	b	Key to compare against.

Returns: True if a and b are the same, false otherwise.

Definition at line 67 of file id.cpp.

 {
     return compareIDs(*a, b);
 }

◆ compareIDs() [7/7]

bool robowflex::compareIDs	(	const IDPtr &	a,
		const IDPtr &	b
	)

Compare two ID objects.

Parameters

[in]	a	First object to compare.
[in]	b	Second object to compare.

Returns: True if a and b are the same, false otherwise.

Definition at line 52 of file id.cpp.

 {
     return compareIDs(*a, *b);
 }

◆ explode()

void robowflex::explode ( )

Trigger a SEGSEGV.

Definition at line 101 of file util.cpp.

 {
     raise(SIGSEGV);
 }

◆ toMatrix()

template<typename M >

M robowflex::toMatrix ( const RobotPose & pose )

Convert the Robowflex pose type to another transform type.

Definition at line 33 of file adapter.h.

     {
         M newpose;
         newpose.matrix() = pose.matrix();
         return newpose;
     }

◆ toMetricString()

std::string robowflex::toMetricString ( const PlannerMetric & metric )

Convert a planner metric into a string.

Parameters

[in] metric The metric to convert.

Returns: The metric as a string.

Definition at line 63 of file benchmarking.cpp.

 {
     return boost::apply_visitor(toMetricStringVisitor(), metric);
 }

Variable Documentation

◆ cube

robowflex.cube = scene.get_object("Cube3")

Definition at line 51 of file robowflex.py.

◆ fetch

robowflex.fetch = rv.robot.Robot("Fetch", "package://robowflex_resources/fetch/robots/fetch.urdf")

Definition at line 13 of file robowflex.py.

◆ frame

robowflex.frame

Initial value:

 =  fetch.animate_path(
     "package://robowflex_visualization/yaml/fetch_pick.yml",
     15,    # FPS
     30,    # Start Frame
 )

Definition at line 36 of file robowflex.py.

◆ scene

robowflex.scene

Initial value:

1 = rv.scene.Scene("Scene",

2 "package://robowflex_library/yaml/test_fetch.yml")

Definition at line 32 of file robowflex.py.

Namespaces

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

◆ PathMetric

◆ PlannerMetric

◆ RobotPose

◆ RobotPoseVector

Function Documentation

◆ compareIDs() [1/7]

◆ compareIDs() [2/7]

◆ compareIDs() [3/7]

◆ compareIDs() [4/7]

◆ compareIDs() [5/7]

◆ compareIDs() [6/7]

◆ compareIDs() [7/7]

◆ explode()

◆ toMatrix()

◆ toMetricString()

Variable Documentation

◆ cube

◆ fetch

◆ frame

◆ scene