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* Copyright (c) 2008, Willow Garage, Inc.
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giogadi / passive.robot.xml
Last active December 20, 2015 03:48
COLLADA description of a 6-DOF mechanism (P1-R5)
<Robot name="CustomRobot">
<KinBody name="PassiveArm">
<Body name="base" type="dynamic">
<Translation>0 0 0</Translation>
<Body name="shoulder" type="dynamic">
<Translation>0 0 0</Translation>
giogadi / RRG.cpp
Last active December 19, 2015 15:19
RRG.cpp: RRG code with simple costs
/* Authors: Luis G. Torres */
#include "RRG.h"
#include "ompl/tools/config/SelfConfig.h"
#include "ompl/base/Goal.h"
#include <boost/utility.hpp>
#include <boost/property_map/function_property_map.hpp>
#include <map>
#include <boost/timer/timer.hpp>
giogadi / RRG.h
Last active December 19, 2015 15:19
RRG.h: RRG code with generalized costs. Simple costs make A* much easier
/* Authors: Luis G. Torres */
#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/base/OptimizationObjective.h"
#include "ompl/datastructures/NearestNeighbors.h"
#include "ompl/base/goals/GoalRegion.h"