Public Member Functions | Public Attributes
plan_execution::PlanExecution::Options Struct Reference

#include <plan_execution.h>

List of all members.

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.
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.
unsigned int replan_attempts_
double replan_delay_
 The amount of time to wait in between replanning attempts (in seconds)

Detailed Description

Definition at line 57 of file plan_execution.h.


Constructor & Destructor Documentation

Definition at line 59 of file plan_execution.h.


Member Data Documentation

Definition at line 89 of file plan_execution.h.

Definition at line 88 of file plan_execution.h.

Definition at line 90 of file plan_execution.h.

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

Definition at line 74 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 86 of file plan_execution.h.

Flag indicating whether replanning is allowed.

Definition at line 64 of file plan_execution.h.

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

Definition at line 68 of file plan_execution.h.

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

Definition at line 71 of file plan_execution.h.


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


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Nov 26 2018 03:22:45