Fix broken links (#628)

Author: Vatan Aksoy Tezer

conf.py

@@ -54,13 +54,13 @@
             'moveit_codedir': ('https://github.com/' + html_context["github_user"] + '/moveit/blob/' + html_context["github_version"] + '/%s', ''),
             'panda_codedir': ('https://github.com/' + html_context["github_user"] + '/panda_moveit_config/blob/' + 'melodic-devel' + '/%s', ''),  # TODO(dlu): use ros_distro when noetic-devel branch is available
             'rosdocs': ('http://docs.ros.org/' + ros_distro + '/api/%s', ''),
-            'moveit_core': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/classmoveit_1_1core_1_1%s.html', ''),
-            'planning_scene': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/classplanning__scene_1_1%s.html', ''),
+            'moveit_core': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/cpp/classmoveit_1_1core_1_1%s.html', ''),
+            'planning_scene': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/cpp/classplanning__scene_1_1%s.html', ''),
             'planning_scene_monitor': ('http://docs.ros.org/' + ros_distro + '/api/moveit_ros_planning/html/classplanning__scene__monitor_1_1%s.html', ''),
-            'collision_detection_struct': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/structcollision__detection_1_1%s.html', ''),
-            'collision_detection_class': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/classcollision__detection_1_1%s.html', ''),
-            'kinematic_constraints': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/classkinematic__constraints_1_1%s.html', ''),
-            'moveit_core_files': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/%s.html', ''),
+            'collision_detection_struct': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/cpp/structcollision__detection_1_1%s.html', ''),
+            'collision_detection_class': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/cpp/classcollision__detection_1_1%s.html', ''),
+            'kinematic_constraints': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/cpp/classkinematic__constraints_1_1%s.html', ''),
+            'moveit_core_files': ('http://docs.ros.org/' + ros_distro + '/api/moveit_core/html/cpp/%s.html', ''),
             'moveit_website': ('http://moveit.ros.org/%s/', ''),
             'locked_planning_scene': ('http://docs.ros.org/' + ros_distro + '/api/moveit_ros_planning/html/namespaceplanning__scene__monitor.html', ''),
             'planning_interface': ('http://docs.ros.org/' + ros_distro + '/api/moveit_ros_planning_interface/html/classmoveit_1_1planning__interface_1_1%s.html', ''),

doc/motion_planning_api/src/motion_planning_api_tutorial.cpp

@@ -173,7 +173,7 @@ int main(int argc, char** argv)
   // package.
   //
   // .. _kinematic_constraints:
-  //     http://docs.ros.org/noetic/api/moveit_core/html/namespacekinematic__constraints.html#a88becba14be9ced36fefc7980271e132
+  //     http://docs.ros.org/noetic/api/moveit_core/html/cpp/namespacekinematic__constraints.html#a88becba14be9ced36fefc7980271e132
   moveit_msgs::Constraints pose_goal =
       kinematic_constraints::constructGoalConstraints("panda_link8", pose, tolerance_pose, tolerance_angle);
 

doc/motion_planning_pipeline/src/motion_planning_pipeline_tutorial.cpp

@@ -151,7 +151,7 @@ int main(int argc, char** argv)
   // package.
   //
   // .. _kinematic_constraints:
-  //     http://docs.ros.org/noetic/api/moveit_core/html/namespacekinematic__constraints.html#a88becba14be9ced36fefc7980271e132
+  //     http://docs.ros.org/noetic/api/moveit_core/html/cpp/namespacekinematic__constraints.html#a88becba14be9ced36fefc7980271e132
   req.group_name = "panda_arm";
   moveit_msgs::Constraints pose_goal =
       kinematic_constraints::constructGoalConstraints("panda_link8", pose, tolerance_pose, tolerance_angle);

doc/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.rst

@@ -97,7 +97,7 @@ VisibilityConstraint
 
 A ``VisibilityConstraint`` allows to eg. specify a camera should always be able to see the gripper.
 
-How this is achieved is best explained by the `VisibilityConstraint <https://docs.ros.org/noetic/api/moveit_core/html/classkinematic__constraints_1_1VisibilityConstraint.html#details>`_ class documentation.
+How this is achieved is best explained by the `VisibilityConstraint <https://docs.ros.org/noetic/api/moveit_core/html/cpp/classkinematic__constraints_1_1VisibilityConstraint.html#details>`_ class documentation.
 
 Such a constraint is compactly defined like this::