.. _program_listing_file_include_moveit_robot_interaction_kinematic_options.h:

Program Listing for File kinematic_options.h
============================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_moveit_robot_interaction_kinematic_options.h>` (``include/moveit/robot_interaction/kinematic_options.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: Acorn Pooley */
   
   #pragma once
   
   #include <moveit/kinematics_base/kinematics_base.h>
   #include <moveit/robot_state/robot_state.h>
   
   namespace robot_interaction
   {
   // Options for inverse kinematics calculations.
   //
   // This is intended to be lightweight and passable by value.  No virtual
   // functions and no destructor.
   struct KinematicOptions
   {
     KinematicOptions();
   
     enum OptionBitmask
     {
       TIMEOUT = 0x00000001,                      // timeout_seconds_
       STATE_VALIDITY_CALLBACK = 0x00000002,      // state_validity_callback_
       LOCK_REDUNDANT_JOINTS = 0x00000004,        // options_.lock_redundant_joints
       RETURN_APPROXIMATE_SOLUTION = 0x00000008,  // options_.return_approximate_solution
       DISCRETIZATION_METHOD = 0x00000010,
       ALL_QUERY_OPTIONS = LOCK_REDUNDANT_JOINTS | RETURN_APPROXIMATE_SOLUTION | DISCRETIZATION_METHOD,
       ALL = 0x7fffffff
     };
   
     bool setStateFromIK(moveit::core::RobotState& state, const std::string& group, const std::string& tip,
                         const geometry_msgs::msg::Pose& pose) const;
   
     void setOptions(const KinematicOptions& source, OptionBitmask fields = ALL);
   
     double timeout_seconds_;
   
     moveit::core::GroupStateValidityCallbackFn state_validity_callback_;
   
     kinematics::KinematicsQueryOptions options_;
   };
   }  // namespace robot_interaction