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RobWorkProject
List of all members | Public Types | Public Member Functions | Static Public Attributes
Planning Class Reference

Public Types

enum  Status {
  SUCCESS, INVKIN_FAIL, COLLISION, COLLISION_INITIALLY,
  COLLISION_END, NO_TASK, NO_PATH_FOUND
}
 
enum  Strategy { RANDOM, BEST_QUALITY }
 

Public Member Functions

 Planning (rw::models::WorkCell::Ptr wc, rw::models::Device::Ptr device, rw::models::Device::Ptr gripper, rw::kinematics::Frame *objectFrame, const rw::math::Transform3D<> tcpTtarget, GraspDB::Ptr db)
 
Planning::Status getPath (rw::trajectory::QPath &res, const rw::math::Transform3D<> pose, const rw::math::Q gripper, const rw::kinematics::State &state) const
 
Planning::Status getPath (rw::trajectory::QPath &res, const rw::math::Q qTo, const rw::math::Q qFrom, const rw::kinematics::State &state) const
 
Planning::Status getPath (std::pair< unsigned int, rw::trajectory::QPath > &res, const rw::kinematics::State &state, double approach=-1., std::vector< unsigned int > blacklist=std::vector< unsigned int >()) const
 
Planning::Status getPath (std::pair< unsigned int, rw::trajectory::QPath > &res, unsigned int id, const rw::kinematics::State &state, double approach=-1.) const
 
Planning::Status inverseKin (std::vector< rw::math::Q > &sol, const rw::math::Transform3D<> &target, const rw::kinematics::State &state) const
 
void setStrategy (Strategy strategy)
 

Static Public Attributes

static const double APPROACH_LENGTH = 0.1
 

The documentation for this class was generated from the following file: