Class TrajectoryGenerator::MotionPlanInfo

Nested Relationships

This class is a nested type of Class TrajectoryGenerator.

Class Documentation

class MotionPlanInfo

This class is used to extract needed information from motion plan request.

Public Members

std::string group_name
std::string link_name
Eigen::Isometry3d start_pose
Eigen::Isometry3d goal_pose
std::map<std::string, double> start_joint_position
std::map<std::string, double> goal_joint_position
std::pair<std::string, Eigen::Vector3d> circ_path_point