RobotComponents Components

Modules
	AStarPathPlanner
	The AStarPathPlanner provides path planning using the A* algorithm.
	CollisionCheckerComponent
	DHParameterOptimizationLogger
	DMPComponent
	A brief description.
	DMPInstance
	The DMP Instance class.
	FunctionApproximator
	GraspingManager
	Provides methods for grasp planning purposes.
	LaserScannerFeatureExtraction
	LaserScannerSelfLocalisation
	MMMPlayer
	Replays an MMM trajectory from a file.
	MMMSimulation
	Replays an MMM trajectory from a file.
	MotionPlanningServer
	Implementation of the slice interface MotionPlanningServerInterface.
	ObjectLocalizationSaliency
	PathPlanner
	Abstract base class for path planners. This class offers basic methods for planning paths in the plane. A path consists of a sequence of 3D vectors containing position (mm) and orientation around the z axis (rad). In addition object and agent management is implemented here.
	PlannedMotionProvider
	ReflexCombination
	RobotIK
	Provides IK solving methods from VirtualRobot (see Simox).
	SimpleGraspGenerator
	The SimpleGraspGenerator component controls the head of the robot with inverse kinematics based on the uncertainty of the current requested object locations. The uncertainty of objects grow based on their motion model and the timed passed since the last localization. It can be activated or deactivated with the Ice interface and given manual target positions to look at.
	SimpleRobotPlacement
	The SimpleRobotPlacement component provides methods to calculate candidate robot placements (i.e. base poses) in order to grasp a given object.
	StaticAgentReporter
	TrajectoryPlayer
	ViconMarkerProvider
	VoxelGridMappingProvider

Detailed Description

The RobotComponents package provides several generic components which can be configured for usage with a specific robot.