#include <kinematic_options_map.h>

Public Member Functions
	KinematicOptionsMap ()
	Constructor - set all options to reasonable default values.

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

KinematicOptions	getOptions (const std::string &key) const

void	setOptions (const std::string &key, const KinematicOptions &options, KinematicOptions::OptionBitmask fields=KinematicOptions::ALL)

void	merge (const KinematicOptionsMap &other)

Static Public Attributes
static const std::string	DEFAULT = ""
	When used as key this means the default value.

static const std::string	ALL = ""
	When used as key this means set ALL keys (including default)

Detailed Description

Definition at line 49 of file kinematic_options_map.h.

Constructor & Destructor Documentation

◆ KinematicOptionsMap()

robot_interaction::KinematicOptionsMap::KinematicOptionsMap ( )

Constructor - set all options to reasonable default values.

Definition at line 43 of file kinematic_options_map.cpp.

Member Function Documentation

◆ getOptions()

robot_interaction::KinematicOptions robot_interaction::KinematicOptionsMap::getOptions ( const std::string & key ) const

Get the options to use for a particular key. To get the default values pass key = KinematicOptionsMap::DEFAULT

Definition at line 49 of file kinematic_options_map.cpp.

◆ merge()

void robot_interaction::KinematicOptionsMap::merge ( const KinematicOptionsMap & other )

Merge all options from other into this. Values in other (including defaults_) take precedence over values in this.

Definition at line 109 of file kinematic_options_map.cpp.

◆ setOptions()

void robot_interaction::KinematicOptionsMap::setOptions	(	const std::string &	key,
		const KinematicOptions &	options,
		KinematicOptions::OptionBitmask	fields = `KinematicOptions::ALL`
	)

Set some of the options to be used for a particular key.

Parameters

key	set the options for this key. To set the default options use key = KinematicOptionsMap::DEFAULT To set ALL options use key = KinematicOptionsMap::ALL
options	the new value for the options.

@fields which options to set for the key.

Definition at line 62 of file kinematic_options_map.cpp.

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◆ setStateFromIK()

bool robot_interaction::KinematicOptionsMap::setStateFromIK	(	moveit::core::RobotState &	state,
		const std::string &	key,
		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
key	used to lookup the options to use
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.

Definition at line 132 of file kinematic_options_map.cpp.

Member Data Documentation

◆ ALL

const std::string robot_interaction::KinematicOptionsMap::ALL = ""

static

When used as key this means set ALL keys (including default)

Definition at line 59 of file kinematic_options_map.h.

◆ DEFAULT

const std::string robot_interaction::KinematicOptionsMap::DEFAULT = ""