#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... | |
Definition at line 56 of file plan_execution.h.
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inline |
Definition at line 58 of file plan_execution.h.
| 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.