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

TrajOptCompositeProfile Class

TrajOptDefaultCompositeProfile Class

TrajOptDefaultPlanProfile Class

TrajOptDefaultSolverProfile Class

TrajOptMotionPlanner Class

TrajOptPlanProfile Class

TrajOptProb Class

TrajOptProblemGeneratorFn Class

TrajOptProblemGeneratorFnBase Class

TrajOptResult Class

TrajOptSolverProfile Class

Functions

ConstructProblem Function

OptimizeProblem Function

ProfileDictionary_addProfile_TrajOptCompositeProfile Function

ProfileDictionary_addProfile_TrajOptPlanProfile Function

ProfileDictionary_addProfile_TrajOptSolverProfile Function

ProfileDictionary_getProfileEntry_TrajOptCompositeProfile Function

ProfileDictionary_getProfileEntry_TrajOptPlanProfile Function

ProfileDictionary_getProfileEntry_TrajOptSolverProfile Function

ProfileDictionary_getProfile_TrajOptCompositeProfile Function

ProfileDictionary_getProfile_TrajOptPlanProfile Function

ProfileDictionary_getProfile_TrajOptSolverProfile Function

ProfileDictionary_hasProfileEntry_TrajOptCompositeProfile Function

ProfileDictionary_hasProfileEntry_TrajOptPlanProfile Function

ProfileDictionary_hasProfileEntry_TrajOptSolverProfile Function

ProfileDictionary_hasProfile_TrajOptCompositeProfile Function

ProfileDictionary_hasProfile_TrajOptPlanProfile Function

ProfileDictionary_hasProfile_TrajOptSolverProfile Function

ProfileDictionary_removeProfileEntry_TrajOptCompositeProfile Function

ProfileDictionary_removeProfileEntry_TrajOptPlanProfile Function

ProfileDictionary_removeProfileEntry_TrajOptSolverProfile Function

ProfileDictionary_removeProfile_TrajOptCompositeProfile Function

ProfileDictionary_removeProfile_TrajOptPlanProfile Function

ProfileDictionary_removeProfile_TrajOptSolverProfile Function

createAvoidSingularityTermInfo Function

createCartesianWaypointTermInfo Function

createCollisionTermInfo Function

createDynamicCartesianWaypointTermInfo Function

createJointWaypointTermInfo Function

createNearJointStateTermInfo Function

createSafetyMarginDataVector Function

createSmoothAccelerationTermInfo Function

createSmoothJerkTermInfo Function

createSmoothVelocityTermInfo Function

createTolerancedJointWaypointTermInfo Function

createUserDefinedTermInfo Function

toXMLDocument Function

toXMLFile Function

toXMLString Function

trajOptCompositeFromXMLDocument Function

trajOptCompositeFromXMLElement Function

trajOptCompositeFromXMLFile Function

trajOptCompositeFromXMLString Function

trajOptCompositeParser Function

trajOptPlanFromXMLDocument Function

trajOptPlanFromXMLElement Function

trajOptPlanFromXMLFile Function

trajOptPlanFromXMLString Function

trajOptPlanParser Function

Constants

  • AUTO_SOLVER

  • CollisionEvaluatorType_CAST_CONTINUOUS

  • CollisionEvaluatorType_DISCRETE_CONTINUOUS

  • CollisionEvaluatorType_SINGLE_TIMESTEP

  • GIVEN_TRAJ

  • JOINT_INTERPOLATED

  • TT_CNT

  • TT_COST

  • TT_USE_TIME

Container Templates

  • TrajOptCompositeProfileMap -> std::unordered_map<std::string, std::shared_ptr<const tesseract_planning::TrajOptCompositeProfile>>

  • TrajOptPlanProfileMap -> std::unordered_map<std::string, std::shared_ptr<const tesseract_planning::TrajOptPlanProfile>>

  • TrajOptSolverProfileMap -> std::unordered_map<std::string, std::shared_ptr<const tesseract_planning::TrajOptSolverProfile>>