Struct KinematicOptions
Defined in File kinematic_options.h
Struct Documentation
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struct KinematicOptions
Public Types
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enum OptionBitmask
Bits corresponding to each member. NOTE: when adding fields to this structure also add the field to this enum and to the setOptions() method.
Values:
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enumerator TIMEOUT
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enumerator STATE_VALIDITY_CALLBACK
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enumerator LOCK_REDUNDANT_JOINTS
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enumerator RETURN_APPROXIMATE_SOLUTION
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enumerator DISCRETIZATION_METHOD
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enumerator ALL_QUERY_OPTIONS
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enumerator ALL
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enumerator TIMEOUT
Public Functions
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KinematicOptions()
Constructor - set all options to reasonable default values.
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bool setStateFromIK(moveit::core::RobotState &state, const std::string &group, const std::string &tip, const geometry_msgs::msg::Pose &pose) const
Set state using inverse kinematics
- Parameters:
state – the state to set
group – name of group whose joints can move
tip – link that will be posed
pose – desired pose of tip link
result – true if IK succeeded.
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void 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.
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enum OptionBitmask