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
namespace	drake
namespace	drake::manipulation
namespace	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.
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.