#include <kinematic_options.h>

Collaboration diagram for robot_interaction::KinematicOptions:

Public Types
enum	OptionBitmask { TIMEOUT = 0x00000001 , STATE_VALIDITY_CALLBACK = 0x00000002 , LOCK_REDUNDANT_JOINTS = 0x00000004 , RETURN_APPROXIMATE_SOLUTION = 0x00000008 , DISCRETIZATION_METHOD = 0x00000010 , ALL_QUERY_OPTIONS = LOCK_REDUNDANT_JOINTS \| RETURN_APPROXIMATE_SOLUTION \| DISCRETIZATION_METHOD , ALL = 0x7fffffff }

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

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

void	setOptions (const KinematicOptions &source, OptionBitmask fields=ALL)

Public Attributes
double	timeout_seconds_
	max time an IK attempt can take before we give up.

moveit::core::GroupStateValidityCallbackFn	state_validity_callback_
	This is called to determine if the state is valid.

kinematics::KinematicsQueryOptions	options_
	other options

Detailed Description

Definition at line 48 of file kinematic_options.h.

Member Enumeration Documentation

◆ OptionBitmask

enum robot_interaction::KinematicOptions::OptionBitmask

Bits corresponding to each member. NOTE: when adding fields to this structure also add the field to this enum and to the setOptions() method.

Enumerator
TIMEOUT
STATE_VALIDITY_CALLBACK
LOCK_REDUNDANT_JOINTS
RETURN_APPROXIMATE_SOLUTION
DISCRETIZATION_METHOD
ALL_QUERY_OPTIONS
ALL

Definition at line 56 of file kinematic_options.h.

Constructor & Destructor Documentation

◆ KinematicOptions()

robot_interaction::KinematicOptions::KinematicOptions ( )

Constructor - set all options to reasonable default values.

Definition at line 41 of file kinematic_options.cpp.

Member Function Documentation

◆ setOptions()

void robot_interaction::KinematicOptions::setOptions	(	const KinematicOptions &	source,
		OptionBitmask	fields = `ALL`
	)

Copy a subset of source to this. For each bit set in fields the corresponding member is copied from source to this.

Definition at line 65 of file kinematic_options.cpp.

Here is the caller graph for this function:

◆ setStateFromIK()

bool robot_interaction::KinematicOptions::setStateFromIK	(	moveit::core::RobotState &	state,
		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
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 47 of file kinematic_options.cpp.

Here is the call graph for this function:

Member Data Documentation

◆ options_

kinematics::KinematicsQueryOptions robot_interaction::KinematicOptions::options_

other options

Definition at line 88 of file kinematic_options.h.

◆ state_validity_callback_

moveit::core::GroupStateValidityCallbackFn robot_interaction::KinematicOptions::state_validity_callback_

This is called to determine if the state is valid.

Definition at line 85 of file kinematic_options.h.

◆ timeout_seconds_

double robot_interaction::KinematicOptions::timeout_seconds_

max time an IK attempt can take before we give up.

Definition at line 82 of file kinematic_options.h.

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

moveit_ros/robot_interaction/include/moveit/robot_interaction/kinematic_options.h
moveit_ros/robot_interaction/src/kinematic_options.cpp

Public Types

Public Member Functions

Public Attributes