api_documentation: http://docs.ros.org/fuerte/api/chomp_motion_planner/html
authors: Mrinal Kalakrishnan / mail@mrinal.net
brief: CHOMP - Covariant Hamiltonian Optimization for Motion Planning
bugtracker: ''
depends:
- kdl
- rosconsole
- trajectory_msgs
- roscpp
- planning_environment
- filters
- planning_models
- sensor_msgs
- kdl_parser
- distance_field
- eigen
- constraint_aware_spline_smoother
- spline_smoother
- angles
- visualization_msgs
- tf
- common_rosdeps
- collision_proximity
- arm_navigation_msgs
depends_on:
- pr2_arm_navigation_planning
description: "\n\nCHOMP is a motion planner based on trajectory optimization.\nIt\
  \ generates smooth, collision-free trajectories. For technical, algorithmic details,\n\
  please refer to:\n\n&quot;CHOMP: Gradient Optimization Techniques for Efficient\
  \ Motion Planning&quot;.\nNathan Ratliff, Matthew Zucker, J. Andrew Bagnell and\
  \ Siddhartha Srinivasa.\nIEEE International Conference on Robotics and Automation,\
  \ May 2009. \n\n  "
doc_job: doc-fuerte-arm_navigation_experimental
license: BSD
maintainers: ''
metapackages:
- motion_planners
- arm_navigation_experimental
msgs:
- JointVelocityArray
package_type: package
repo_name: arm_navigation_experimental
repo_url: ''
srvs:
- GetChompCollisionCost
- GetStateCost
timestamp: 1386846542.449749
url: http://ros.org/wiki/chomp_motion_planner
vcs: hg
vcs_uri: https://kforge.ros.org/armnavigation/experimental
vcs_version: default
