tesseract_robotics.tesseract_motion_planners_trajopt

This module provides access to the TrajOpt motion planner library. TrajOpt is a local optimizer for trajectories. If it is likely a local planner will not find a direct path, an OMPL planner can be used to find a clear path, and then use TrajOpt to optimize the path. Planning is typically done using the tesseract_task_composer interface.

Classes

BasicInfo Class

BasicTrustRegionSQPParameters Class

CartPoseTermInfo Class

CartVelTermInfo Class

CollisionConstraintConfig Class

CollisionCostConfig Class

CollisionTermInfo Class

DynamicCartPoseTermInfo Class

InitInfo Class

JointAccTermInfo Class

JointJerkTermInfo Class

JointPosTermInfo Class

JointVelTermInfo Class

ModelType Class

ProblemConstructionInfo Class

SafetyMarginData Class

SafetyMarginDataPtr_vector Class

TermInfo Class

TermInfoPtr_vector Class

TotalTimeTermInfo Class

TrajOptCartesianWaypointConfig Class

TrajOptCompositeProfile Class

TrajOptDefaultCompositeProfile Class

TrajOptDefaultPlanProfile Class

TrajOptJointWaypointConfig Class

TrajOptMotionPlanner Class

TrajOptPlanProfile Class

TrajOptProb Class

TrajOptResult Class

TrajOptSolverProfile Class

TrajOptTermInfos Class

TrajOptWaypointInfo Class

Functions

ConstructProblem Function

OptimizeProblem Function

createAvoidSingularityTermInfo Function

createCartesianWaypointTermInfo Function

createCollisionTermInfo Function

createDynamicCartesianWaypointTermInfo Function

createJointWaypointTermInfo Function

createKinematicGroup Function

createNearJointStateTermInfo Function

createSafetyMarginDataVector Function

createSmoothAccelerationTermInfo Function

createSmoothJerkTermInfo Function

createSmoothVelocityTermInfo Function

createTolerancedJointWaypointTermInfo Function

createUserDefinedTermInfo Function

Constants

AUTO_SOLVER
CollisionEvaluatorType_CAST_CONTINUOUS
CollisionEvaluatorType_DISCRETE_CONTINUOUS
CollisionEvaluatorType_SINGLE_TIMESTEP
GIVEN_TRAJ
JOINT_INTERPOLATED
TermType_TT_CNT
TermType_TT_COST
TermType_TT_INVALID
TermType_TT_USE_TIME