kinematic_options.h
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34 
35 /* Author: Acorn Pooley */
36 
37 #ifndef MOVEIT_ROBOT_INTERACTION_KINEMATIC_OPTIONS_
38 #define MOVEIT_ROBOT_INTERACTION_KINEMATIC_OPTIONS_
39 
42 
43 namespace robot_interaction
44 {
45 // Options for inverse kinematics calculations.
46 //
47 // This is intended to be lightweight and passable by value. No virtual
48 // functions and no destructor.
50 {
53 
58  {
59  TIMEOUT = 0x00000001, // timeout_seconds_
60  MAX_ATTEMPTS = 0x00000002, // max_attempts_
61  STATE_VALIDITY_CALLBACK = 0x00000004, // state_validity_callback_
62  LOCK_REDUNDANT_JOINTS = 0x00000008, // options_.lock_redundant_joints
63  RETURN_APPROXIMATE_SOLUTION = 0x00000010, // options_.return_approximate_solution
64  DISCRETIZATION_METHOD = 0x00000020,
66  ALL = 0x7fffffff
67  };
68 
75  bool setStateFromIK(robot_state::RobotState& state, const std::string& group, const std::string& tip,
76  const geometry_msgs::Pose& pose) const;
77 
81  void setOptions(const KinematicOptions& source, OptionBitmask fields = ALL);
82 
85 
87  unsigned int max_attempts_;
88 
90  robot_state::GroupStateValidityCallbackFn state_validity_callback_;
91 
94 };
95 }
96 
97 #endif
robot_state::GroupStateValidityCallbackFn state_validity_callback_
This is called to determine if the state is valid.
void setOptions(const KinematicOptions &source, OptionBitmask fields=ALL)
double timeout_seconds_
max time an IK attempt can take before we give up.
KinematicOptions()
Constructor - set all options to reasonable default values.
kinematics::KinematicsQueryOptions options_
other options
unsigned int max_attempts_
how many attempts before we give up.
bool setStateFromIK(robot_state::RobotState &state, const std::string &group, const std::string &tip, const geometry_msgs::Pose &pose) const


robot_interaction
Author(s): Ioan Sucan
autogenerated on Sat Apr 21 2018 02:55:52