Planning
========

Sdf-swept-sphere-based collision checker
----------------------------------------

.. autosummary::
   :toctree: generated/
   :nosignatures:

   skrobot.planner.SweptSphereSdfCollisionChecker

SQP-based trajectory planner
----------------------------

.. autosummary::
   :toctree: generated/
   :nosignatures:

   skrobot.planner.sqp_plan_trajectory

Swept sphere generator
----------------------

.. autosummary::
   :toctree: generated/
   :nosignatures:

   skrobot.planner.swept_sphere.compute_swept_sphere

Planner utils
-------------
.. autosummary::
   :toctree: generated/
   :nosignatures:

   skrobot.planner.utils.scipinize
   skrobot.planner.utils.set_robot_config
   skrobot.planner.utils.get_robot_config
   skrobot.planner.utils.forward_kinematics_multi