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Classes | |
| class | interpolated_ik_motion_planner::InterpolatedIKService |
Namespaces | |
| namespace | interpolated_ik_motion_planner |
Server to provide interpolated IK motion plans relevant params: num_steps: the number of steps to use when interpolating including start and finish (0 means use pos_spacing and rot_spacing to calculate the number of steps, anything ==1 or <0 will become 2, start and finish) consistent_angle: the max angle distance (in any joint) before we declare that the path is inconsistent collision_check_resolution: how many steps between collision checks (0 or 1 is check every step; 2 is every other, etc. | |
Variables | |
| tuple | interpolated_ik_motion_planner::interpolated_ik_service = InterpolatedIKService(which_arm) |
| list | interpolated_ik_motion_planner::which_arm = sys.argv[1] |
