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The MoveIt Motion Planning Framework for ROS 2.
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Public Types | Public Member Functions | Public Attributes | List of all members
robot_interaction::KinematicOptions Struct Reference

#include <kinematic_options.h>

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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

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.

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◆ 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
statethe state to set
groupname of group whose joints can move
tiplink that will be posed
posedesired pose of tip link
resulttrue if IK succeeded.

Definition at line 47 of file kinematic_options.cpp.

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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: