kinematic_options.h
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00034 
00035 /* Author: Acorn Pooley */
00036 
00037 #ifndef MOVEIT_ROBOT_INTERACTION_KINEMATIC_OPTIONS_
00038 #define MOVEIT_ROBOT_INTERACTION_KINEMATIC_OPTIONS_
00039 
00040 #include <moveit/kinematics_base/kinematics_base.h>
00041 #include <moveit/robot_state/robot_state.h>
00042 
00043 namespace robot_interaction
00044 {
00045 // Options for inverse kinematics calculations.
00046 //
00047 // This is intended to be lightweight and passable by value.  No virtual
00048 // functions and no destructor.
00049 struct KinematicOptions
00050 {
00052   KinematicOptions();
00053 
00057   enum OptionBitmask
00058   {
00059     TIMEOUT = 0x00000001,                      // timeout_seconds_
00060     MAX_ATTEMPTS = 0x00000002,                 // max_attempts_
00061     STATE_VALIDITY_CALLBACK = 0x00000004,      // state_validity_callback_
00062     LOCK_REDUNDANT_JOINTS = 0x00000008,        // options_.lock_redundant_joints
00063     RETURN_APPROXIMATE_SOLUTION = 0x00000010,  // options_.return_approximate_solution
00064     DISCRETIZATION_METHOD = 0x00000020,
00065     ALL_QUERY_OPTIONS = LOCK_REDUNDANT_JOINTS | RETURN_APPROXIMATE_SOLUTION | DISCRETIZATION_METHOD,
00066     ALL = 0x7fffffff
00067   };
00068 
00075   bool setStateFromIK(robot_state::RobotState& state, const std::string& group, const std::string& tip,
00076                       const geometry_msgs::Pose& pose) const;
00077 
00081   void setOptions(const KinematicOptions& source, OptionBitmask fields = ALL);
00082 
00084   double timeout_seconds_;
00085 
00087   unsigned int max_attempts_;
00088 
00090   robot_state::GroupStateValidityCallbackFn state_validity_callback_;
00091 
00093   kinematics::KinematicsQueryOptions options_;
00094 };
00095 }
00096 
00097 #endif


robot_interaction
Author(s): Ioan Sucan
autogenerated on Mon Nov 26 2018 03:23:22