Struct JointTrajectoryOptions

Defined in File cp_joint_space_trajectory_planner.hpp

Struct Documentation

struct JointTrajectoryOptions

Configuration options for joint space trajectory planning.

Public Members

std::optional<std::string> tipLink

std::optional<std::string> groupName

bool allowInitialDiscontinuity = false

double maxJointDiscontinuity = 0.3

int ikAttempts = 4

bool avoidCollisions = true

std::chrono::seconds ikTimeout = 3s