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45 lines
1.3 KiB
45 lines
1.3 KiB
2 years ago
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/** @addtogroup planning
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@{
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A collection of algorithms for finding configurations and/or trajectories of
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dynamical systems.
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Many planning algorithms make heavy use of @ref solvers::MathematicalProgram
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"MathematicalProgram" and the numerous @ref solver_evaluators. There are
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also some useful classes in @ref manipulation_systems.
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@defgroup planning_kinematics
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@defgroup planning_trajectory
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@defgroup planning_collision_checker
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@defgroup planning_infrastructure
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@}
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*/
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/** @addtogroup planning_kinematics Inverse kinematics
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@{
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These algorithms help define configurations of dynamical systems based on
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inverse kinematics (IK).
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@}
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*/
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/** @addtogroup planning_trajectory Trajectories
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@{
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These algorithms compute trajectories based on various criteria.
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@}
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*/
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/** @addtogroup planning_collision_checker Collision checking
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@{
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The CollisionChecker interface provides a basis for performing distance
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queries on robots in environments for various planning problems (e.g.,
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sampling planning).
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@}
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*/
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/** @addtogroup planning_infrastructure Convenience classes
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@{
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Simplifications for managing @ref drake::systems::Diagram "Diagrams"
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containing @ref drake::multibody::MultibodyPlant "MultibodyPlant" and
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@ref drake::geometry::SceneGraph "SceneGraph" systems in planning tasks.
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@}
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*/
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