Struct JointTrajectoryOptions

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