Fix broken API links

Author: rhaschke

conf.py

@@ -80,13 +80,13 @@
     "moveit_core": (
         "http://docs.ros.org/"
         + ros_distro
-        + "/api/moveit_core/html/cpp/classmoveit_1_1core_1_1%s.html",
+        + "/api/moveit_core/html/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",
+        + "/api/moveit_core/html/classplanning__scene_1_1%s.html",
         "",
     ),
     "planning_scene_monitor": (
@@ -98,23 +98,23 @@
     "collision_detection_struct": (
         "http://docs.ros.org/"
         + ros_distro
-        + "/api/moveit_core/html/cpp/structcollision__detection_1_1%s.html",
+        + "/api/moveit_core/html/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",
+        + "/api/moveit_core/html/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",
+        + "/api/moveit_core/html/classkinematic__constraints_1_1%s.html",
         "",
     ),
     "moveit_core_files": (
-        "http://docs.ros.org/" + ros_distro + "/api/moveit_core/html/cpp/%s.html",
+        "http://docs.ros.org/" + ros_distro + "/api/moveit_core/html/%s.html",
         "",
     ),
     "moveit_website": ("http://moveit.ros.org/%s/", ""),

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/cpp/namespacekinematic__constraints.html#a88becba14be9ced36fefc7980271e132
+  //     http://docs.ros.org/noetic/api/moveit_core/html/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

@@ -150,7 +150,7 @@ int main(int argc, char** argv)
   // package.
   //
   // .. _kinematic_constraints:
-  //     http://docs.ros.org/noetic/api/moveit_core/html/cpp/namespacekinematic__constraints.html#a88becba14be9ced36fefc7980271e132
+  //     http://docs.ros.org/noetic/api/moveit_core/html/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

@@ -98,7 +98,7 @@ 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/cpp/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/classkinematic__constraints_1_1VisibilityConstraint.html#details>`_ class documentation.
 
 Such a constraint is compactly defined like this::