#include <problem_description.h>

Public Types
enum	Type { STATIONARY , JOINT_INTERPOLATED , GIVEN_TRAJ }
	Methods of initializing the optimization matrix. This defines how robot moves from the current state to the start state. More...

Public Attributes
Type	type
	Specifies the type of initialization to use. More...

trajopt::TrajArray	data
	Data used during initialization. Use depends on the initialization selected. This data will be used to create initialization matrix. We need to give the goal information to this init info. More...

double	dt = 1.0
	Default value the final column of the optimization is initialized too if time is being used. More...

Detailed Description

Initialization info read from json

Definition at line 93 of file problem_description.h.

Member Enumeration Documentation

◆ Type

enum trajopt_interface::InitInfo::Type

Methods of initializing the optimization matrix. This defines how robot moves from the current state to the start state.

STATIONARY: Initializes all joint values to the initial value (the current value in the env) JOINT_INTERPOLATED: Linearly interpolates between initial value and the joint position specified in InitInfo.data GIVEN_TRAJ: Initializes the matrix to a given trajectory

In all cases the dt column (if present) is appended the selected method is defined.

Enumerator
STATIONARY
JOINT_INTERPOLATED
GIVEN_TRAJ

Definition at line 104 of file problem_description.h.

Member Data Documentation

◆ data

trajopt::TrajArray trajopt_interface::InitInfo::data

Data used during initialization. Use depends on the initialization selected. This data will be used to create initialization matrix. We need to give the goal information to this init info.

Definition at line 115 of file problem_description.h.

◆ dt

double trajopt_interface::InitInfo::dt = 1.0

Default value the final column of the optimization is initialized too if time is being used.

Definition at line 119 of file problem_description.h.

◆ type

Type trajopt_interface::InitInfo::type

Specifies the type of initialization to use.

Definition at line 111 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 Types