Program Listing for File kinematic_options.h
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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