Classes
class	MoveIkDemoBase
	This class provides some common functionality for generating IK plans for robot arms, including things like creating a MultibodyPlant, setting joint velocity limits, implementing a robot status update handler suitable for invoking from an LCM callback, and generating plans to move a specified link to a goal configuration. More...

class	MovingAverageFilter
	The implementation of a Moving Average Filter. More...

class	RobotPlanInterpolator
	This class implements a source of joint positions for a robot. More...

Enumerations
enum	InterpolatorType { ZeroOrderHold, FirstOrderHold, Pchip, Cubic }
	This enum specifies the type of interpolator to use in constructing the piece-wise polynomial. More...

Functions
template<typename T >
std::vector< std::string >	GetJointNames (const multibody::MultibodyPlant< T > &plant)

void	ApplyJointVelocityLimits (const std::vector< Eigen::VectorXd > &keyframes, const Eigen::VectorXd &limits, std::vector< double > *times)
	Scales a plan so that no step exceeds the robot's maximum joint velocities. More...

lcmt_robot_plan	EncodeKeyFrames (const std::vector< std::string > &joint_names, const std::vector< double > &times, const std::vector< Eigen::VectorXd > &keyframes)
	Makes an lcmt_robot_plan message. More...

Enumeration Type Documentation

◆ InterpolatorType

enum InterpolatorType

strong

This enum specifies the type of interpolator to use in constructing the piece-wise polynomial.

Enumerator
ZeroOrderHold
FirstOrderHold
Pchip
Cubic

Function Documentation

◆ ApplyJointVelocityLimits()

void drake::manipulation::util::ApplyJointVelocityLimits	(	const std::vector< Eigen::VectorXd > &	keyframes,
		const Eigen::VectorXd &	limits,
		std::vector< double > *	times
	)

Scales a plan so that no step exceeds the robot's maximum joint velocities.

The size of keyframes must match the size of times. Times must be in strictly increasing order and start with zero. Per-joint velocity limits are specified by limits, which much be the same size ad the number of joints in each element of keyframes. Assumes that velocity limits are equal regardless of direction. If any step does exceed the maximum velocities in limits, times will be modified to reduce the velocity.

◆ EncodeKeyFrames()

lcmt_robot_plan drake::manipulation::util::EncodeKeyFrames	(	const std::vector< std::string > &	joint_names,
		const std::vector< double > &	times,
		const std::vector< Eigen::VectorXd > &	keyframes
	)

Makes an lcmt_robot_plan message.

The entries in joint_names should be unique, though the behavior if names are duplicated depends on how the returned plan is evaluated. The size of each vector in keyframes must match the size of joint_names. The size of keyframes must match the size of times. Times must be in strictly increasing order.

◆ GetJointNames()

std::vector<std::string> drake::manipulation::util::GetJointNames ( const multibody::MultibodyPlant< T > & plant )

Returns: A vector of joint names corresponding to the positions in plant in the order of the joint indices. If joints with duplicate names exist in different model instance in the plant, the names will be duplicated in the output.

Classes