Planning

Detailed Description

A collection of algorithms for finding configurations and/or trajectories of dynamical systems.

Many planning algorithms make heavy use of MathematicalProgram and the numerous Costs and Constraints. There are also some useful classes in Manipulation.

Modules
	Inverse kinematics
	These algorithms help define configurations of dynamical systems based on inverse kinematics (IK).
	Trajectories
	These algorithms compute trajectories based on various criteria.
	Collision checking
	The CollisionChecker interface provides a basis for performing distance queries on robots in environments for various planning problems (e.g., sampling planning).
	Convenience classes
	Simplifications for managing Diagrams containing MultibodyPlant and SceneGraph systems in planning tasks.

Classes
class	StaticEquilibriumProblem
	Finds the static equilibrium pose of a multibody system through optimization. More...