#include <problem_description.h>

Public Attributes
bool	start_fixed
	If true, first time step is fixed with a joint level constraint If this is false, the starting point of the trajectory will not be the current position of the robot. The use case example is: if we are trying to execute a process like sanding the critical part which is the actual process path not how we get to the start of the process path. So we plan the process path first leaving the start free to hopefully get the most optimal and then we plan from the current location with start fixed to the start of the process path. It depends on what we want the default behavior to be. More...

int	n_steps
	Number of time steps (rows) in the optimization matrix. More...

sco::IntVec	dofs_fixed

sco::ModelType	convex_solver

bool	use_time = false
	If true, the last column in the optimization matrix will be 1/dt. More...

double	dt_upper_lim = 1.0
	The upper limit of 1/dt values allowed in the optimization. More...

double	dt_lower_lim = 1.0
	The lower limit of 1/dt values allowed in the optimization. More...

Detailed Description

Definition at line 65 of file problem_description.h.

Member Data Documentation

◆ convex_solver

sco::ModelType trajopt_interface::BasicInfo::convex_solver

Definition at line 80 of file problem_description.h.

◆ dofs_fixed

sco::IntVec trajopt_interface::BasicInfo::dofs_fixed

Definition at line 79 of file problem_description.h.

◆ dt_lower_lim

double trajopt_interface::BasicInfo::dt_lower_lim = 1.0

The lower limit of 1/dt values allowed in the optimization.

Definition at line 87 of file problem_description.h.

◆ dt_upper_lim

double trajopt_interface::BasicInfo::dt_upper_lim = 1.0

The upper limit of 1/dt values allowed in the optimization.

Definition at line 85 of file problem_description.h.

◆ n_steps

int trajopt_interface::BasicInfo::n_steps

Number of time steps (rows) in the optimization matrix.

Definition at line 78 of file problem_description.h.

◆ start_fixed

bool trajopt_interface::BasicInfo::start_fixed

If true, first time step is fixed with a joint level constraint If this is false, the starting point of the trajectory will not be the current position of the robot. The use case example is: if we are trying to execute a process like sanding the critical part which is the actual process path not how we get to the start of the process path. So we plan the process path first leaving the start free to hopefully get the most optimal and then we plan from the current location with start fixed to the start of the process path. It depends on what we want the default behavior to be.

Definition at line 76 of file problem_description.h.

◆ use_time

bool trajopt_interface::BasicInfo::use_time = false

If true, the last column in the optimization matrix will be 1/dt.

Definition at line 83 of file problem_description.h.

The documentation for this struct was generated from the following file:

moveit_planners/trajopt/include/trajopt_interface/problem_description.h

Public Attributes