Struct KinematicOptions

Struct Documentation

struct KinematicOptions

Public Types

enum OptionBitmask

Bits corresponding to each member. NOTE: when adding fields to this structure also add the field to this enum and to the setOptions() method.

Values:

enumerator TIMEOUT
enumerator STATE_VALIDITY_CALLBACK
enumerator LOCK_REDUNDANT_JOINTS
enumerator RETURN_APPROXIMATE_SOLUTION
enumerator DISCRETIZATION_METHOD
enumerator ALL_QUERY_OPTIONS
enumerator ALL

Public Functions

KinematicOptions()

Constructor - set all options to reasonable default values.

bool setStateFromIK(moveit::core::RobotState &state, const std::string &group, const std::string &tip, const geometry_msgs::msg::Pose &pose) const

Set state using inverse kinematics

Parameters:

  • state – the state to set

  • group – name of group whose joints can move

  • tip – link that will be posed

  • pose – desired pose of tip link

  • result – true if IK succeeded.

void setOptions(const KinematicOptions &source, OptionBitmask fields = ALL)

Copy a subset of source to this. For each bit set in fields the corresponding member is copied from source to this.

Public Members

double timeout_seconds_

max time an IK attempt can take before we give up.

moveit::core::GroupStateValidityCallbackFn state_validity_callback_

This is called to determine if the state is valid.

kinematics::KinematicsQueryOptions options_

other options