Classes
class	OctomapListener
	Class used for obtaining occupancy map (as octomap) from octomap server. More...

class	Planner
	Class used as planner interface. More...

Functions
def	qMapToConstraints (q_map, tolerance=0.01, group=None)
	This function converts dictionary of joint positions to moveit_msgs.Constraints structure. More...

def	wrapAngle (angle)

def	keepUprightIk (vec_E)

def	KDL2str (x)

Function Documentation

◆ KDL2str()

def rcprg_planner.rcprg_planner.KDL2str ( x )

Definition at line 180 of file rcprg_planner.py.

def rcprg_planner.rcprg_planner.keepUprightIk ( vec_E )

Definition at line 123 of file rcprg_planner.py.

def rcprg_planner.rcprg_planner.qMapToConstraints	(	q_map,
		tolerance = `0.01`,
		group = `None`
	)

This function converts dictionary of joint positions to moveit_msgs.Constraints structure.

Parameters

q_map	dictionary: A dictionary {name:position} of desired joint positions.
tolerance	float: Tolerance of goal position.
group	list of strings: Names of active joints in planning group. Only constraints for these joints should be generated.

Definition at line 47 of file rcprg_planner.py.

def rcprg_planner.rcprg_planner.wrapAngle ( angle )

Definition at line 120 of file rcprg_planner.py.