Public Types
enum	OptionBitmask { TIMEOUT = 0x00000001, MAX_ATTEMPTS = 0x00000002, STATE_VALIDITY_CALLBACK = 0x00000004, LOCK_REDUNDANT_JOINTS = 0x00000008, RETURN_APPROXIMATE_SOLUTION = 0x00000010, DISCRETIZATION_METHOD = 0x00000020, ALL_QUERY_OPTIONS = LOCK_REDUNDANT_JOINTS \| RETURN_APPROXIMATE_SOLUTION \| DISCRETIZATION_METHOD, ALL = 0x7fffffff }
Public Member Functions
	KinematicOptions ()
	Constructor - set all options to reasonable default values.
void	setOptions (const KinematicOptions &source, OptionBitmask fields=ALL)
bool	setStateFromIK (robot_state::RobotState &state, const std::string &group, const std::string &tip, const geometry_msgs::Pose &pose) const
Public Attributes
unsigned int	max_attempts_
	how many attempts before we give up.
kinematics::KinematicsQueryOptions	options_
	other options
robot_state::GroupStateValidityCallbackFn	state_validity_callback_
	This is called to determine if the state is valid.
double	timeout_seconds_
	max time an IK attempt can take before we give up.

Detailed Description

Definition at line 49 of file kinematic_options.h.

Member Enumeration Documentation

Bits corresponding to each member. NOTE: when adding fields to this structure also add the field to this enum and to the setOptions() method.

Enumerator:

TIMEOUT
MAX_ATTEMPTS
STATE_VALIDITY_CALLBACK
LOCK_REDUNDANT_JOINTS
RETURN_APPROXIMATE_SOLUTION
DISCRETIZATION_METHOD
ALL_QUERY_OPTIONS
ALL

Definition at line 57 of file kinematic_options.h.

robot_interaction::KinematicOptions::KinematicOptions ( )

Constructor - set all options to reasonable default values.

Definition at line 41 of file kinematic_options.cpp.

void robot_interaction::KinematicOptions::setOptions	(	const KinematicOptions &	source,
		OptionBitmask	fields = `ALL`
	)

Copy a subset of source to this. For each bit set in fields the corresponding member is copied from source to this.

Definition at line 63 of file kinematic_options.cpp.

bool robot_interaction::KinematicOptions::setStateFromIK	(	robot_state::RobotState &	state,
		const std::string &	group,
		const std::string &	tip,
		const geometry_msgs::Pose &	pose
	)		const