moveit2
The MoveIt Motion Planning Framework for ROS 2.

#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...  
Definition at line 65 of file problem_description.h.
sco::ModelType trajopt_interface::BasicInfo::convex_solver 
Definition at line 80 of file problem_description.h.
sco::IntVec trajopt_interface::BasicInfo::dofs_fixed 
Definition at line 79 of file problem_description.h.
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.
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.
int trajopt_interface::BasicInfo::n_steps 
Number of time steps (rows) in the optimization matrix.
Definition at line 78 of file problem_description.h.
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.
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.