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"
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 > ×, const std::vector< Eigen::VectorXd > &keyframes) |
Makes an lcmt_robot_plan message. More... | |