#include <plan_execution.h>

Public Member Functions
	Options ()

Public Attributes
bool	replan
	Flag indicating whether replanning is allowed.

unsigned int	replan_attemps

double	replan_delay
	The amount of time to wait in between replanning attempts (in seconds)

ExecutableMotionPlanComputationFn	plan_callback
	Callback for computing motion plans. This callback must always be specified.

std::function< bool(ExecutableMotionPlan &plan_to_update, const std::pair< int, int > &trajectory_index)>	repair_plan_callback_

std::function< void()>	before_plan_callback_

std::function< void()>	before_execution_callback_

std::function< void()>	done_callback_

Detailed Description

Definition at line 57 of file plan_execution.h.

Constructor & Destructor Documentation

◆ Options()

plan_execution::PlanExecution::Options::Options ( )

inline

Definition at line 59 of file plan_execution.h.

Member Data Documentation

◆ before_execution_callback_

std::function<void()> plan_execution::PlanExecution::Options::before_execution_callback_

Definition at line 89 of file plan_execution.h.

◆ before_plan_callback_

std::function<void()> plan_execution::PlanExecution::Options::before_plan_callback_

Definition at line 88 of file plan_execution.h.

◆ done_callback_

std::function<void()> plan_execution::PlanExecution::Options::done_callback_

Definition at line 90 of file plan_execution.h.

◆ plan_callback

ExecutableMotionPlanComputationFn plan_execution::PlanExecution::Options::plan_callback

Callback for computing motion plans. This callback must always be specified.

Definition at line 74 of file plan_execution.h.

◆ repair_plan_callback_

std::function<bool(ExecutableMotionPlan& plan_to_update, const std::pair<int, int>& trajectory_index)> plan_execution::PlanExecution::Options::repair_plan_callback_

Callback for repairing motion plans. This is optional. A new plan is re-computed if repairing routines are not specified. To aid in the repair process, the position that the controller had reached in the execution of the previous plan is also passed as argument. The format is the same as what the trajectory_execution_manager::TrajectoryExecutionManager reports: a pair of two integers where the first one is the index of the last trajectory being executed (from the sequence of trajectories specified in the ExecutableMotionPlan) and the second one is the index of the closest waypoint along that trajectory.

Definition at line 86 of file plan_execution.h.

◆ replan

bool plan_execution::PlanExecution::Options::replan

Flag indicating whether replanning is allowed.

Definition at line 64 of file plan_execution.h.

◆ replan_attemps

unsigned int plan_execution::PlanExecution::Options::replan_attemps

If replanning is allowed, this variable specifies how many replanning attempts there can be, at most, before failure

Definition at line 68 of file plan_execution.h.

◆ replan_delay

double plan_execution::PlanExecution::Options::replan_delay

The amount of time to wait in between replanning attempts (in seconds)

Definition at line 71 of file plan_execution.h.

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

moveit_ros/planning/plan_execution/include/moveit/plan_execution/plan_execution.h

Public Member Functions

Public Attributes