Public Member Functions | Public Attributes | List of all members
plan_execution::PlanExecution::Options Struct Reference

#include <plan_execution.h>

Public Member Functions

 Options ()

Public Attributes

boost::function< void()> before_execution_callback_
boost::function< void()> before_plan_callback_
boost::function< void()> done_callback_
ExecutableMotionPlanComputationFn plan_callback_
 Callback for computing motion plans. This callback must always be specified. More...
boost::function< bool(ExecutableMotionPlan &plan_to_update, const std::pair< int, int > &trajectory_index)> repair_plan_callback_
bool replan_
 Flag indicating whether replanning is allowed. More...
unsigned int replan_attempts_
double replan_delay_
 The amount of time to wait in between replanning attempts (in seconds) More...

Detailed Description

Definition at line 56 of file plan_execution.h.

Constructor & Destructor Documentation

plan_execution::PlanExecution::Options::Options ( )

Definition at line 58 of file plan_execution.h.

Member Data Documentation

boost::function<void()> plan_execution::PlanExecution::Options::before_execution_callback_

Definition at line 88 of file plan_execution.h.

boost::function<void()> plan_execution::PlanExecution::Options::before_plan_callback_

Definition at line 87 of file plan_execution.h.

boost::function<void()> plan_execution::PlanExecution::Options::done_callback_

Definition at line 89 of file plan_execution.h.

ExecutableMotionPlanComputationFn plan_execution::PlanExecution::Options::plan_callback_

Callback for computing motion plans. This callback must always be specified.

Definition at line 73 of file plan_execution.h.

boost::function<bool(ExecutableMotionPlan& plan_to_update, const std::pair<int, int>& trajectory_index)> plan_execution::PlanExecution::Options::repair_plan_callback_

Callback for repairing motion plans. This is optional. A new plan is re-computed if repairing routines are not specified. To aid in the repair process, the position that the controller had reached in the execution of the previous plan is also passed as argument. The format is the same as what the trajectory_execution_manager::TrajectoryExecutionManager reports: a pair of two integers where the first one is the index of the last trajectory being executed (from the sequence of trajectories specified in the ExecutableMotionPlan) and the second one is the index of the closest waypoint along that trajectory.

Definition at line 85 of file plan_execution.h.

bool plan_execution::PlanExecution::Options::replan_

Flag indicating whether replanning is allowed.

Definition at line 63 of file plan_execution.h.

unsigned int plan_execution::PlanExecution::Options::replan_attempts_

If replanning is allowed, this variable specifies how many replanning attempts there can be, at most, before failure

Definition at line 67 of file plan_execution.h.

double plan_execution::PlanExecution::Options::replan_delay_

The amount of time to wait in between replanning attempts (in seconds)

Definition at line 70 of file plan_execution.h.

The documentation for this struct was generated from the following file:

Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Jul 10 2019 04:03:32