Crate openrr_planner[][src]

Expand description

Motion Planning Library for Robotics

Get the collision free trajectory of joint angles. ncollide3d is used to check the collision between the robot and the environment.



Collision checker for a robot

Inverse Kinematics Solver using Jacobian matrix

Collision Avoidance Path Planner

Builder pattern to create JointPathPlanner

Joint path planner which supports inverse kinematics

Randomize initial joint angles before solving

Struct for a point of a trajectory with multiple dimensions.


Error for openrr_planner


Convert urdf object into openrr_planner/ncollide3d object

IK solver


Clamp joint angles to set angles safely

Generate random joint angles from the optional limits

Check the poses which can be reached by the robot arm

Interpolate position vectors

If the joint has no limit, select the nearest value from (x + 2pi *).

Set joint positions safely

Set random joint angles