| Nblender | |
| Ncollision_detection | |
| Nconstraint_samplers | |
| Ndistance_field | |
| Ndynamics_solver | |
| Nkinematic_constraints | |
| Nkinematics | |
| Nkinematics_metrics | |
| Nmoveit | |
| Nmoveit_controller_manager | |
| Nmoveit_sensor_manager | |
| Nplanning_interface | |
| Nplanning_request_adapter | |
| Nplanning_scene | |
| Npr2_arm_kinematics | |
| Nprimitives | Functions for constructing shapes in Blender |
| Nrobot | Functions for loading and animating robots in Blender |
| Nrobot_trajectory | |
| ▼Nrobowflex | Main namespace. Contains all library classes and functions |
| Ncolor | |
| Nconstants | |
| ►Ndarts | DART-based robot modeling and planning |
| NIO | |
| Nmagic | |
| CACM | Allowable collision matrix for robowflex::darts::Structure |
| CViewer | Viewer class |
| ►CWindow | Open Scene Graph GUI for DART visualization |
| CDnDReturn | Return from creating a movable frame |
| CInteractiveOptions | Options for creating an interactive marker |
| CInteractiveReturn | Return from creating an interactive marker |
| CWidget | Abstract class for IMGUI Widget |
| CImGuiElement | Abstract GUI element |
| CTextElement | A basic text element |
| CCheckboxElement | A checkbox element that modifies a boolean |
| CButtonElement | A basic push-button element |
| CRenderElement | Generic rendered element. Use callback to display whatever GUI elements needed |
| CLinePlotElement | Line plot element. Displays an updated line graph of data |
| CWindowWidget | IMGUI widget to add interactive GUI elements programmatically |
| CTSREditWidget | IMGUI widget to design TSRs |
| ►CTSRSolveWidget | Class for solving a set of TSRs |
| CErrorLines | Error plots for TSRs |
| CJoint | Abstract controllable joint for robowflex::darts::StateSpace |
| CRnJoint | A real vector joint of n dimensions |
| CSO2Joint | A SO(2) joint. Bounds are from -pi to pi, and wraps |
| CSO3Joint | A SO(3) joint modeled with quaternions |
| CDARTPlanner | Wrapper for easy access to DART planning tools via standard Robowflex interface |
| CConstraintExtractor | Helper class to manage extracting states from a possibly constrained state space |
| CTSRGoal | A sampleable goal region for OMPL for a set of TSRs. Samples goals in a separate thread using a clone of the world |
| CJointRegionGoal | A joint space goal volume |
| CPlanBuilder | A helper class to setup common OMPL structures for planning |
| CRobot | A sampleable goal region for OMPL for a set of TSRs. Samples goals in a separate thread using a clone of the world |
| ►CStateSpace | An OMPL state space for robowflex::darts::World. Can do motion planning for any of the robots or structures in the world |
| CStateSampler | Sampler for robowflex::darts::StateSpace |
| CStateType | State type for the robowflex::darts::StateSpace |
| CStructure | Wrapper class for a dart::dynamics::Skeleton |
| ►CTSR | A Task Space Region (TSR). TSRs are workspace regions that impose a constraints on a robot. They are composed of a pose (in some reference frame) and tolerances on position and rotation. initialize() must be called once all parameters are set |
| CSpecification | The specification of a TSR |
| CTSRSet | Manager for a set of TSR constraints. Attempts to reduce redundancy and combines errors and Jacobians together |
| CTSRConstraint | An OMPL constraint for TSRs. Under the hood, creates a TSRSet that is used for all computation. Make sure that the robot state space has all groups setup before creation of this constraint |
| CDistanceCollisionWrapper | A wrapper for the ACM to pass into signed distance computation. Returns based on if the objects would collide |
| ►CWorld | Wrapper for a dart::simulation::World, which contains a set of skeletons (i.e., Robots and Structures). The World is the main object that is used by motion planning as it contains a holistic view of the scene |
| CCollisionInfo | Collision filter information |
| Nhypercube | |
| ►NIO | File and ROS Input / Output operations |
| CBag | rosbag management class to ease message saving and loading |
| ►CRobotBroadcaster | Helper class to broadcast transform information on TF and joint states |
| CStaticTransform | Information for a static transform |
| ►CGNUPlotHelper | Helper class to open a pipe to a GNUPlot instance for live visualization of data |
| CBoxPlotOptions | Box plotting options |
| CInstance | |
| ►CPlottingOptions | |
| CAxis | |
| CTimeSeriesOptions | Time series plotting options |
| CGNUPlotPlanDataSetOutputter | Helper class to plot a real metric as a box plot using GNUPlot from benchmarking data |
| CHandler | ROS parameter server handler to handle namespacing and automatic parameter deletion |
| CHDF5Data | A container class for HDF5 DataSets loaded by an HDF5File |
| CHDF5File | An HDF5 File loaded into memory |
| CPluginManager | A singleton class for dynamic loading classes through pluginlib |
| CRVIZHelper | RVIZ visualization helper. See Live Visualization with RViz for more information |
| Nlog | Logging functions |
| ►Nmovegroup | Move group interaction related classes and features |
| ►CMoveGroupHelper | A helper class that allows for pulling and pushing of scenes, robots, and trajectories to move group |
| CAction | A container struct for all relevant information about a motion planning request to move group |
| ►NOMPL | OMPL specific planners and features |
| CCob4OMPLPipelinePlanner | Convenience class for the default motion planning pipeline for Cob4 |
| CFetchOMPLPipelinePlanner | Convenience class for the default motion planning pipeline for Fetch |
| CR2OMPLPipelinePlanner | Convenience class for the default motion planning pipeline for R2 (R2C6 full) |
| CUR5OMPLPipelinePlanner | Convenience class for the default motion planning pipeline for UR5 |
| CSettings | Settings descriptor for settings provided by the default MoveIt! OMPL planning pipeline |
| COMPLPipelinePlanner | A robowflex::PipelinePlanner that uses the MoveIt! default OMPL planning pipeline |
| COMPLInterfacePlanner | A planner that directly uses MoveIt!'s OMPL planning interface |
| COMPLTrajectory | OMPLTrajectory provides OMPL path utilities to the Trajectory class |
| Nopenrave | |
| ►Nopt | |
| CCHOMPSettings | Settings descriptor for settings provided by the default MoveIt! CHOMP planning pipeline |
| CCHOMPPipelinePlanner | A robowflex::PipelinePlanner that uses the MoveIt! CHOMP planning pipeline |
| CTrajOptPipelinePlanner | A robowflex::PipelinePlanner that uses the MoveIt! TrajOpt planning pipeline |
| NRNG | Collection of methods relating to random sampling |
| NTF | Collection of methods relating to transforms and transform math |
| CPlanningQuery | A container structure for all elements needed in a planning query, plus an identifying name |
| CPlanData | Detailed statistics and metrics computed from profiling a planner's motion planning |
| CPlanDataSet | Detailed statistics about a benchmark of multiple queries |
| ►CProfiler | |
| COptions | Options for profiling |
| CExperiment | A helper class for benchmarking that controls running multiple queries |
| CPlanDataSetOutputter | An abstract class for outputting benchmark results |
| CJSONPlanDataSetOutputter | A benchmark outputter for storing data in a single JSON file |
| CTrajectoryPlanDataSetOutputter | Benchmark outputter that saves each trajectory from each run to a rosbag file |
| COMPLPlanDataSetOutputter | 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 |
| CMotionRequestBuilder | A helper class to build motion planning requests for a robowflex::Planner |
| CCob4Robot | 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 |
| CFetchRobot | 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 |
| CR2Robot | Convenience class that describes the default setup for R2 (R2C6 full) |
| CUR5Robot | 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 |
| ►CGeometry | A class that manages both solid and mesh geometry for various parts of the motion planning system |
| CShapeType | Supported shape types |
| CID | Adds functionality to uniquely ID a specific class as well as the "version" of that class, managed by an incrementing counter |
| CPlanner | An abstract interface to a motion planning algorithm |
| CPoolPlanner | A thread pool of planners P to service requests in a multi-threaded environment simultaneously |
| CSimpleCartesianPlanner | 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 |
| CPipelinePlanner | A motion planner that uses the MoveIt! planning pipeline to load a planner plugin |
| ►CPool | 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 |
| CJob | A job that returns RT |
| CJoblet | Interface class for Pool::Job so template parameters are not needed for the queue |
| ►CRobot | Loads information about a robot and maintains information about a robot's state |
| CIKQuery | Robot IK Query options. IK queries in Robowflex consist of: a) A position specified by some geometric region (a robowflex::Geometry) at a pose. b) An orientation specified by some base orientation with allowable deviations specified by tolerances on the XYZ Euler axes. It is recommended to use the provided constructors to specify a query, or to use the addRequest() function. Multiple target tips can be specified, but note that not all kinematics solvers support multi-tip IK. Additionally, a robowflex::Scene can be specified to do collision-aware IK |
| CParamRobot | Loads information about a robot from the parameter server |
| ►CScene | Wrapper class around the planning scene and collision geometry |
| CCollisionPluginLoader | The actual plugin loader for collision plugins. Heavily inspired by code in moveit_ros/planning |
| CTrajectory | 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()) |
| CException | Exception that contains a message and an error code |
| CROS | RAII-pattern for starting up ROS |
| ►CTrajOptPlanner | Robowflex Tesseract TrajOpt Planner |
| COptions | Options structure with parameter values for TrajOpt planner |
| ▼Nrobowflex_visualization | |
| Nprimitives | |
| ►Nrobot | |
| CRobot | Controllable URDF described robot |
| ►Nscene | |
| CScene | Container for MoveIt planning scenes in Blender |
| Nutils | |
| Nscene | Functions for loading and animating scenes in Blender |
| Nshapes | |
| Nstd | |
| Ntrajectory_processing | |
| NYAML | |