tsr.h File Reference

#include <set>
#include <functional>
#include <iostream>
#include <ompl/base/Constraint.h>
#include <dart/dynamics/SimpleFrame.hpp>
#include <dart/dynamics/InverseKinematics.hpp>
#include <robowflex_library/class_forward.h>
#include <robowflex_library/adapter.h>

Go to the source code of this file.

Classes
class	robowflex::darts::TSR
	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. More...
class	robowflex::darts::TSR::Specification
	The specification of a TSR. More...
class	robowflex::darts::TSRSet
	Manager for a set of TSR constraints. Attempts to reduce redundancy and combines errors and Jacobians together. More...
class	robowflex::darts::TSRConstraint
	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. More...

Namespaces
	robowflex
	Main namespace. Contains all library classes and functions.
	robowflex::darts
	DART-based robot modeling and planning.
	robowflex::darts::magic

Variables
static const double	robowflex::darts::magic::DEFAULT_IK_TOLERANCE = 1e-3
static const std::string	robowflex::darts::magic::ROOT_FRAME = ""
static const Eigen::Vector3d	robowflex::darts::magic::DEFAULT_IK_TOLERANCES