Struct Robot

Defined in File robot.hpp

Nested Relationships

Nested Types

Struct Robot::Variable

Struct Documentation

struct Robot

Public Functions

auto get_random_valid_configuration() const -> std::vector<double>: Returns a random valid configuration.

auto is_valid_configuration(std::vector<double> const &config) const -> bool: Check is a configuration is valid.

Public Members

std::vector<Variable> variables

Public Static Functions

static auto from(std::shared_ptr<moveit::core::RobotModel const> const &model, moveit::core::JointModelGroup const *jmg, std::vector<size_t> tip_link_indices) -> Robot : Create new Robot from a RobotModel.

struct Variable

Public Members

double clip_min

double clip_max

double span

double min

double max

double max_velocity_rcp

double minimal_displacement_factor