#include <plan_execution.h>
Public Member Functions | |
| Options () | |
Public Attributes | |
| boost::function< void()> | before_execution_callback_ |
| boost::function< void()> | before_plan_callback_ |
| boost::function< void()> | done_callback_ |
| ExecutableMotionPlanComputationFn | plan_callback_ |
| Callback for computing motion plans. This callback must always be specified. | |
| boost::function< bool(ExecutableMotionPlan &plan_to_update, const std::pair< int, int > &trajectory_index)> | repair_plan_callback_ |
| bool | replan_ |
| Flag indicating whether replanning is allowed. | |
| unsigned int | replan_attempts_ |
| If replanning is allowed, this variable specifies how many replanning attempts there can be, at most, before failure. | |
| double | replan_delay_ |
| The amount of time to wait in between replanning attempts (in seconds) | |
Definition at line 56 of file plan_execution.h.
| plan_execution::PlanExecution::Options::Options | ( | ) | [inline] |
Definition at line 58 of file plan_execution.h.
| boost::function<void()> plan_execution::PlanExecution::Options::before_execution_callback_ |
Definition at line 85 of file plan_execution.h.
| boost::function<void()> plan_execution::PlanExecution::Options::before_plan_callback_ |
Definition at line 84 of file plan_execution.h.
| boost::function<void()> plan_execution::PlanExecution::Options::done_callback_ |
Definition at line 86 of file plan_execution.h.
Callback for computing motion plans. This callback must always be specified.
Definition at line 74 of file plan_execution.h.
| boost::function<bool(ExecutableMotionPlan &plan_to_update, const std::pair<int, int> &trajectory_index)> plan_execution::PlanExecution::Options::repair_plan_callback_ |
Callback for repairing motion plans. This is optional. A new plan is re-computed if repairing routines are not specified. To aid in the repair process, the position that the controller had reached in the execution of the previous plan is also passed as argument. The format is the same as what the trajectory_execution_manager::TrajectoryExecutionManager reports: a pair of two integers where the first one is the index of the last trajectory being executed (from the sequence of trajectories specified in the ExecutableMotionPlan) and the second one is the index of the closest waypoint along that trajectory.
Definition at line 82 of file plan_execution.h.
Flag indicating whether replanning is allowed.
Definition at line 65 of file plan_execution.h.
If replanning is allowed, this variable specifies how many replanning attempts there can be, at most, before failure.
Definition at line 68 of file plan_execution.h.
The amount of time to wait in between replanning attempts (in seconds)
Definition at line 71 of file plan_execution.h.