Drake
Drake C++ Documentation
robot_plan_utils.h File Reference

Detailed Description

Functions to help with the creation of lcmt_robot_plan messages.

#include <string>
#include <vector>
#include "drake/lcmt_robot_plan.hpp"
#include "drake/multibody/plant/multibody_plant.h"
Include dependency graph for robot_plan_utils.h:

Namespaces

 drake
 
 drake::manipulation
 
 drake::manipulation::util
 

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...