Modules§
Structs§
- Collision
Detector - Collision detector
- Jacobian
IkSolver - Inverse Kinematics Solver using Jacobian matrix
- Joint
Path Planner - Collision Avoidance Path Planner
- Joint
Path Planner Builder - Builder pattern to create
JointPathPlanner - Joint
Path Planner Config - Joint
Path Planner With Ik - Joint path planner which supports inverse kinematics
- Random
Initialize IkSolver - Randomize initial joint angles before solving
- Self
Collision Checker - Self
Collision Checker Config - Trajectory
Point - Struct for a point of a trajectory with multiple dimensions.
Enums§
- Error
- Error for
openrr_planner
Traits§
- From
Urdf - Convert urdf object into openrr_planner/ncollide3d object
- Inverse
Kinematics Solver - IK solver
Functions§
- create_
chain_ from_ joint_ names - Create a sub-chain of the collision check model by a name list
- create_
joint_ path_ planner - generate_
clamped_ joint_ positions_ from_ limits - Clamp joint angles to set angles safely
- generate_
random_ joint_ positions_ from_ limits - Generate random joint angles from the optional limits
- get_
reachable_ region - Check the poses which can be reached by the robot arm
- interpolate
- Interpolate position vectors
- modify_
to_ nearest_ angle - If the joint has no limit, select the nearest value from (x + 2pi *).
- set_
clamped_ joint_ positions Deprecated - Set joint positions safely
- set_
random_ joint_ positions - Set random joint angles
Type Aliases§
- Result
- Result for
openrr_planner