pilz_industrial_motion_planner
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C++ API
Class Hierarchy
Full C++ API
Namespaces
Namespace @3
Namespace joint_limits
Namespace KDL
Namespace pilz_industrial_motion_planner
Namespace pilz_industrial_motion_planner::joint_limits_interface
Namespace planning_interface
Classes and Structs
Struct CartesianTrajectory
Struct CartesianTrajectoryPoint
Struct JointLimits
Struct TrajectoryBlendRequest
Struct TrajectoryBlendResponse
Class AggregationJointMissingException
Class ErrorMotionPlanningCenterPointDifferentRadius
Class AggregationBoundsViolationException
Class AggregationException
Class CommandListManager
Class CommandPlanner
Class ContextLoaderRegistrationException
Class JointLimitsAggregator
Class JointLimitsContainer
Class JointLimitsValidator
Class LimitsContainer
Class MoveGroupSequenceAction
Class MoveGroupSequenceService
Class MoveItErrorCodeException
Class PathCircleGenerator
Class PlanComponentsBuilder
Template Class PlanningContextBase
Class PlanningContextCIRC
Class PlanningContextLIN
Class PlanningContextLoader
Class PlanningContextLoaderCIRC
Class PlanningContextLoaderLIN
Class PlanningContextLoaderPTP
Class PlanningContextPTP
Class PlanningException
Template Class TemplatedMoveItErrorCodeException
Class TrajectoryBlender
Class TrajectoryBlenderTransitionWindow
Class TrajectoryGenerator
Class TrajectoryGenerator::MotionPlanInfo
Class TrajectoryGeneratorCIRC
Class TrajectoryGeneratorLIN
Class TrajectoryGeneratorPTP
Class ValidationBoundsViolationException
Class ValidationDifferentLimitsException
Class ValidationException
Class ValidationJointMissingException
Class VelocityProfileATrap
Class PlanningContextFactoryRegistrationException
Functions
Function getConstraintPose(const geometry_msgs::msg::Point&, const geometry_msgs::msg::Quaternion&, const geometry_msgs::msg::Vector3&)
Function getConstraintPose(const moveit_msgs::msg::Constraints&)
Function joint_limits::declare_parameters(const std::string&, const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr&, const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr&)
Function joint_limits::declare_parameters(const std::string&, const rclcpp::Node::SharedPtr&)
Function joint_limits::declare_parameters(const std::string&, const rclcpp_lifecycle::LifecycleNode::SharedPtr&)
Function joint_limits::declareParameters
Function joint_limits::get_joint_limits(const std::string&, const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr&, const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr&, JointLimits&)
Function joint_limits::get_joint_limits(const std::string&, const rclcpp::Node::SharedPtr&, JointLimits&)
Function joint_limits::get_joint_limits(const std::string&, const rclcpp_lifecycle::LifecycleNode::SharedPtr&, JointLimits&)
Function joint_limits::get_joint_limits(const std::string&, const rclcpp::node_interfaces::NodeParametersInterface::SharedPtr&, const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr&, SoftJointLimits&)
Function joint_limits::get_joint_limits(const std::string&, const rclcpp::Node::SharedPtr&, SoftJointLimits&)
Function joint_limits::get_joint_limits(const std::string&, const rclcpp_lifecycle::LifecycleNode::SharedPtr&, SoftJointLimits&)
Function joint_limits::getJointLimits(urdf::JointConstSharedPtr, JointLimits&)
Function joint_limits::getJointLimits(const std::string&, const rclcpp::Node::SharedPtr&, const std::string&, JointLimits&)
Function joint_limits::getJointLimits(const std::string&, const rclcpp::Node::SharedPtr&, const std::string&, SoftJointLimits&)
Function joint_limits::getSoftJointLimits
Function normalizeQuaternion
Function pilz_industrial_motion_planner::computeLinkFK(moveit::core::RobotState&, const std::string&, const std::map<std::string, double>&, Eigen::Isometry3d&)
Function pilz_industrial_motion_planner::computeLinkFK(moveit::core::RobotState&, const std::string&, const std::vector<std::string>&, const std::vector<double>&, Eigen::Isometry3d&)
Function pilz_industrial_motion_planner::computePoseIK(const planning_scene::PlanningSceneConstPtr&, const std::string&, const std::string&, const Eigen::Isometry3d&, const std::string&, const std::map<std::string, double>&, std::map<std::string, double>&, bool, const double)
Function pilz_industrial_motion_planner::computePoseIK(const planning_scene::PlanningSceneConstPtr&, const std::string&, const std::string&, const geometry_msgs::msg::Pose&, const std::string&, const std::map<std::string, double>&, std::map<std::string, double>&, bool, const double)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NegativeBlendRadiusException, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(LastBlendRadiusNotZeroException, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(StartStateSetException, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(OverlappingBlendRadiiException, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(PlanningPipelineException, moveit_msgs::msg::MoveItErrorCodes::FAILURE)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoBlenderSetException, moveit_msgs::msg::MoveItErrorCodes::FAILURE)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoTipFrameFunctionSetException, moveit_msgs::msg::MoveItErrorCodes::FAILURE)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoRobotModelSetException, moveit_msgs::msg::MoveItErrorCodes::FAILURE)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(BlendingFailedException, moveit_msgs::msg::MoveItErrorCodes::FAILURE)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoSolverException, moveit_msgs::msg::MoveItErrorCodes::FAILURE)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(MoreThanOneTipFrameException, moveit_msgs::msg::MoveItErrorCodes::FAILURE)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(TrajectoryGeneratorInvalidLimitsException, moveit_msgs::msg::MoveItErrorCodes::FAILURE)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(VelocityScalingIncorrect, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(AccelerationScalingIncorrect, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(UnknownPlanningGroup, moveit_msgs::msg::MoveItErrorCodes::INVALID_GROUP_NAME)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoJointNamesInStartState, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(SizeMismatchInStartState, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(JointsOfStartStateOutOfRange, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NonZeroVelocityInStartState, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NotExactlyOneGoalConstraintGiven, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(OnlyOneGoalTypeAllowed, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(StartStateGoalStateMismatch, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(JointConstraintDoesNotBelongToGroup, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(JointsOfGoalOutOfRange, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(PositionConstraintNameMissing, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(OrientationConstraintNameMissing, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(PositionOrientationConstraintNameMismatch, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoIKSolverAvailable, moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoPrimitivePoseGiven, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CircleNoPlane, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CircleToSmall, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CenterPointDifferentRadius, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CircTrajectoryConversionFailure, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(UnknownPathConstraintName, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoPositionConstraints, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoPrimitivePose, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(UnknownLinkNameOfAuxiliaryPoint, moveit_msgs::msg::MoveItErrorCodes::INVALID_LINK_NAME)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NumberOfConstraintsMismatch, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CircInverseForGoalIncalculable, moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(LinTrajectoryConversionFailure, moveit_msgs::msg::MoveItErrorCodes::FAILURE)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(JointNumberMismatch, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(LinInverseForGoalIncalculable, moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(PtpVelocityProfileSyncFailed, moveit_msgs::msg::MoveItErrorCodes::FAILURE)
Function pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION(PtpNoIkSolutionForGoalPose, moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION)
Function pilz_industrial_motion_planner::determineAndCheckSamplingTime
Function pilz_industrial_motion_planner::generateJointTrajectory(const planning_scene::PlanningSceneConstPtr&, const JointLimitsContainer&, const KDL::Trajectory&, const std::string&, const std::string&, const std::map<std::string, double>&, double, trajectory_msgs::msg::JointTrajectory&, moveit_msgs::msg::MoveItErrorCodes&, bool)
Function pilz_industrial_motion_planner::generateJointTrajectory(const planning_scene::PlanningSceneConstPtr&, const JointLimitsContainer&, const pilz_industrial_motion_planner::CartesianTrajectory&, const std::string&, const std::string&, const std::map<std::string, double>&, const std::map<std::string, double>&, trajectory_msgs::msg::JointTrajectory&, moveit_msgs::msg::MoveItErrorCodes&, bool)
Template Function pilz_industrial_motion_planner::getSolverTipFrame
Template Function pilz_industrial_motion_planner::hasSolver
Function pilz_industrial_motion_planner::intersectionFound
Function pilz_industrial_motion_planner::isRobotStateEqual
Function pilz_industrial_motion_planner::isRobotStateStationary
Function pilz_industrial_motion_planner::isStateColliding
Function pilz_industrial_motion_planner::joint_limits_interface::declareParameters
Function pilz_industrial_motion_planner::joint_limits_interface::getJointLimits
Function pilz_industrial_motion_planner::linearSearchIntersectionPoint
Function pilz_industrial_motion_planner::MOVEIT_CLASS_FORWARD(CommandPlanner)
Function pilz_industrial_motion_planner::MOVEIT_CLASS_FORWARD(PlanningContext)
Function pilz_industrial_motion_planner::operator<<
Function pilz_industrial_motion_planner::verifySampleJointLimits
Variables
Variable pilz_industrial_motion_planner::SEQUENCE_SERVICE_NAME
Defines
Define CREATE_MOVEIT_ERROR_CODE_EXCEPTION
Typedefs
Typedef pilz_industrial_motion_planner::JointLimit
Typedef pilz_industrial_motion_planner::JointLimitsMap
Typedef pilz_industrial_motion_planner::MoveGroupSequenceGoalHandle
Typedef pilz_industrial_motion_planner::PlanningContextLoaderCIRCConstPtr
Typedef pilz_industrial_motion_planner::PlanningContextLoaderCIRCPtr
Typedef pilz_industrial_motion_planner::PlanningContextLoaderConstPtr
Typedef pilz_industrial_motion_planner::PlanningContextLoaderLINConstPtr
Typedef pilz_industrial_motion_planner::PlanningContextLoaderLINPtr
Typedef pilz_industrial_motion_planner::PlanningContextLoaderPTPConstPtr
Typedef pilz_industrial_motion_planner::PlanningContextLoaderPTPPtr
Typedef pilz_industrial_motion_planner::PlanningContextLoaderPtr
Typedef pilz_industrial_motion_planner::RobotTrajCont
Typedef pilz_industrial_motion_planner::TipFrameFunc_t
Typedef pilz_industrial_motion_planner::TrajectoryBlenderUniquePtr
Directories
Directory include
Directory joint_limits_copy
Directory pilz_industrial_motion_planner
Files
File capability_names.h
File capability_names.hpp
File cartesian_trajectory.h
File cartesian_trajectory.hpp
File cartesian_trajectory_point.h
File cartesian_trajectory_point.hpp
File command_list_manager.h
File command_list_manager.hpp
File joint_limits.h
File joint_limits.hpp
File joint_limits_aggregator.h
File joint_limits_aggregator.hpp
File joint_limits_container.h
File joint_limits_container.hpp
File joint_limits_extension.h
File joint_limits_extension.hpp
File joint_limits_interface_extension.h
File joint_limits_interface_extension.hpp
File joint_limits_rosparam.h
File joint_limits_rosparam.hpp
File joint_limits_validator.h
File joint_limits_validator.hpp
File limits_container.h
File limits_container.hpp
File move_group_sequence_action.h
File move_group_sequence_action.hpp
File move_group_sequence_service.h
File move_group_sequence_service.hpp
File path_circle_generator.h
File path_circle_generator.hpp
File pilz_industrial_motion_planner.h
File pilz_industrial_motion_planner.hpp
File plan_components_builder.h
File plan_components_builder.hpp
File planning_context_base.h
File planning_context_base.hpp
File planning_context_circ.h
File planning_context_circ.hpp
File planning_context_lin.h
File planning_context_lin.hpp
File planning_context_loader.h
File planning_context_loader.hpp
File planning_context_loader_circ.h
File planning_context_loader_circ.hpp
File planning_context_loader_lin.h
File planning_context_loader_lin.hpp
File planning_context_loader_ptp.h
File planning_context_loader_ptp.hpp
File planning_context_ptp.h
File planning_context_ptp.hpp
File planning_exceptions.h
File planning_exceptions.hpp
File tip_frame_getter.h
File tip_frame_getter.hpp
File trajectory_blend_request.h
File trajectory_blend_request.hpp
File trajectory_blend_response.h
File trajectory_blend_response.hpp
File trajectory_blender.h
File trajectory_blender.hpp
File trajectory_blender_transition_window.h
File trajectory_blender_transition_window.hpp
File trajectory_functions.h
File trajectory_functions.hpp
File trajectory_generation_exceptions.h
File trajectory_generation_exceptions.hpp
File trajectory_generator.h
File trajectory_generator.hpp
File trajectory_generator_circ.h
File trajectory_generator_circ.hpp
File trajectory_generator_lin.h
File trajectory_generator_lin.hpp
File trajectory_generator_ptp.h
File trajectory_generator_ptp.hpp
File velocity_profile_atrap.h
File velocity_profile_atrap.hpp
Standard Documents
README
PACKAGE
CHANGELOG
Changelog for package pilz_industrial_motion_planner
2.13.0 (2025-02-15)
2.12.0 (2024-11-29)
2.11.0 (2024-09-16)
2.10.0 (2024-06-13)
2.9.0 (2024-01-09)
2.8.0 (2023-09-10)
2.7.4 (2023-05-18)
2.7.3 (2023-04-24)
2.7.2 (2023-04-18)
2.7.1 (2023-03-23)
2.7.0 (2023-01-29)
2.6.0 (2022-11-10)
2.5.3 (2022-07-28)
2.5.2 (2022-07-18)
2.5.1 (2022-05-31)
2.5.0 (2022-05-26)
2.4.0 (2022-01-20)
2.3.2 (2021-12-29)
2.3.1 (2021-12-23)
Documentation
Trajectory generation
Index
pilz_industrial_motion_planner
C++ API
Function joint_limits::getJointLimits(urdf::JointConstSharedPtr, JointLimits&)
View page source
Function joint_limits::getJointLimits(urdf::JointConstSharedPtr, JointLimits&)
Function Documentation
bool
joint_limits
::
getJointLimits
(
urdf
::
JointConstSharedPtr
urdf_joint
,
JointLimits
&
limits
)