#include <dart/dart.hpp>
#include <dart/dynamics/dynamics.hpp>
#include "aikido/common/ExecutorThread.hpp"
#include "aikido/common/RNG.hpp"
#include "aikido/constraint/Testable.hpp"
#include "aikido/constraint/dart/CollisionFree.hpp"
#include "aikido/constraint/dart/TSR.hpp"
#include "aikido/control/TrajectoryExecutor.hpp"
#include "aikido/distance/ConfigurationRanker.hpp"
#include "aikido/io/yaml.hpp"
#include "aikido/statespace/dart/MetaSkeletonStateSpace.hpp"
#include "aikido/trajectory/Interpolated.hpp"
#include "aikido/trajectory/Spline.hpp"
#include "aikido/trajectory/Trajectory.hpp"

Classes
struct	aikido::robot::util::VectorFieldPlannerParameters

struct	aikido::robot::util::CRRTPlannerParameters

Namespaces
	aikido
	Format of serialized trajectory in YAML.

	aikido::robot

	aikido::robot::util

Functions
trajectory::TrajectoryPtr	aikido::robot::util::planToConfiguration (const statespace::dart::MetaSkeletonStateSpacePtr &space, const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const statespace::StateSpace::State goalState, const constraint::TestablePtr &collisionTestable, common::RNG rng, double timelimit)
	Plan the robot to a specific configuration. More...

trajectory::TrajectoryPtr	aikido::robot::util::planToConfigurations (const statespace::dart::MetaSkeletonStateSpacePtr &space, const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const std::vector< statespace::StateSpace::State * > &goalStates, const constraint::TestablePtr &collisionTestable, common::RNG *rng, double timelimit)
	Plan the robot to a set of configurations. More...

trajectory::TrajectoryPtr	aikido::robot::util::planToTSR (const statespace::dart::MetaSkeletonStateSpacePtr &space, const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const dart::dynamics::BodyNodePtr &bodyNode, const constraint::dart::TSRPtr &tsr, const constraint::TestablePtr &collisionTestable, common::RNG *rng, double timelimit, std::size_t maxNumTrials, const distance::ConstConfigurationRankerPtr &ranker=nullptr)
	Plan the configuration of the metakeleton such that the specified bodynode is set to a sample in TSR. More...

trajectory::InterpolatedPtr	aikido::robot::util::planToTSRwithTrajectoryConstraint (const statespace::dart::MetaSkeletonStateSpacePtr &space, const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const dart::dynamics::BodyNodePtr &bodyNode, const constraint::dart::TSRPtr &goalTsr, const constraint::dart::TSRPtr &constraintTsr, const constraint::TestablePtr &collisionTestable, double timelimit, const CRRTPlannerParameters &crrtParameters=CRRTPlannerParameters())
	Returns a Trajectory that moves the configuration of the metakeleton such that the specified bodynode is set to a sample in a goal TSR and the trajectory is constrained to a constraint TSR Uses CRRTPlanner. More...

trajectory::TrajectoryPtr	aikido::robot::util::planToEndEffectorOffset (const statespace::dart::MetaSkeletonStateSpacePtr &space, const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const dart::dynamics::BodyNodePtr &body, const Eigen::Vector3d &direction, const constraint::TestablePtr &collisionTestable, double distance, double timelimit, double positionTolerance=1e-3, double angularTolerance=1e-3, const VectorFieldPlannerParameters &vfParameters=VectorFieldPlannerParameters(), const CRRTPlannerParameters &crrtParameters=CRRTPlannerParameters())
	Plan to a desired end-effector offset with fixed orientation. More...

trajectory::InterpolatedPtr	aikido::robot::util::planToEndEffectorOffsetByCRRT (const statespace::dart::MetaSkeletonStateSpacePtr &space, const dart::dynamics::MetaSkeletonPtr &metaSkeleton, const dart::dynamics::BodyNodePtr &bodyNode, const constraint::TestablePtr &collisionTestable, const Eigen::Vector3d &direction, double distance, double timelimit, double positionTolerance=1e-3, double angularTolerance=1e-3, const CRRTPlannerParameters &crrtParameters=CRRTPlannerParameters())
	Plan to a desired end-effector offset with fixed orientation using CRRT. More...

std::unordered_map< std::string, const Eigen::VectorXd >	aikido::robot::util::parseYAMLToNamedConfigurations (const YAML::Node &node)
	Parses YAML node for named configurtaions. More...

bool	aikido::robot::util::getGoalAndConstraintTSRForEndEffectorOffset (const dart::dynamics::BodyNodePtr &bodyNode, const Eigen::Vector3d &direction, double distance, const constraint::dart::TSRPtr &goal, const constraint::dart::TSRPtr &constraint, double positionTolerance=1e-3, double angularTolerance=1e-3)
	Gets Goal and Constraint TSR for end-effector. More...

Eigen::Isometry3d	aikido::robot::util::getLookAtIsometry (const Eigen::Vector3d &positionFrom, const Eigen::Vector3d &positionTo)
	Get a pose at a point looking at another point. More...

const dart::dynamics::BodyNode *	aikido::robot::util::getBodyNodeOrThrow (const dart::dynamics::MetaSkeleton &skeleton, const std::string &bodyNodeName)
	Get a specific BodyNode of a MetaSkeleton or throw an execption if it doesn't exist. More...

dart::dynamics::BodyNode *	aikido::robot::util::getBodyNodeOrThrow (dart::dynamics::MetaSkeleton &skeleton, const std::string &bodyNodeName)
	Get a specific BodyNode of a MetaSkeleton or throw an execption if it doesn't exist. More...

Classes

Namespaces

Functions