kinematic_options.h
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00034 
00035 /* Author: Acorn Pooley */
00036 
00037 #ifndef MOVEIT_ROBOT_INTERACTION_KINEMATIC_OPTIONS_
00038 #define MOVEIT_ROBOT_INTERACTION_KINEMATIC_OPTIONS_
00039 
00040 #include <moveit/kinematics_base/kinematics_base.h>
00041 #include <moveit/robot_state/robot_state.h>
00042 
00043 namespace robot_interaction
00044 {
00045 
00046 // Options for inverse kinematics calculations.
00047 //
00048 // This is intended to be lightweight and passable by value.  No virtual
00049 // functions and no destructor.
00050 struct KinematicOptions
00051 {
00053   KinematicOptions();
00054 
00058   enum OptionBitmask
00059   {
00060     TIMEOUT                     = 0x00000001, // timeout_seconds_
00061     MAX_ATTEMPTS                = 0x00000002, // max_attempts_
00062     STATE_VALIDITY_CALLBACK     = 0x00000004, // state_validity_callback_
00063     LOCK_REDUNDANT_JOINTS       = 0x00000008, // options_.lock_redundant_joints
00064     RETURN_APPROXIMATE_SOLUTION = 0x00000010, // options_.return_approximate_solution
00065 
00066     ALL_QUERY_OPTIONS           = LOCK_REDUNDANT_JOINTS |
00067                                   RETURN_APPROXIMATE_SOLUTION,
00068     ALL                         = 0x7fffffff
00069   };
00070 
00071 
00078   bool setStateFromIK(robot_state::RobotState& state,
00079                       const std::string& group,
00080                       const std::string& tip,
00081                       const geometry_msgs::Pose& pose) const;
00082 
00086   void setOptions(const KinematicOptions& source,
00087                   OptionBitmask fields = ALL);
00088 
00090   double timeout_seconds_;
00091 
00093   unsigned int max_attempts_;
00094 
00096   robot_state::GroupStateValidityCallbackFn state_validity_callback_;
00097 
00099   kinematics::KinematicsQueryOptions options_;
00100 };
00101 
00102 }
00103 
00104 #endif


robot_interaction
Author(s): Ioan Sucan
autogenerated on Wed Aug 26 2015 12:44:19