shadow_planning_options.hpp

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//
// Created by kganguly on 5/8/19.
//

#pragma once

namespace shadow_planning {
struct PlanningOptions {
  double set_planning_time;
  int num_attempts;
  bool allow_replanning;
  double velocity_scaling_factor;
  double acceleration_scaling_factor;
  double goal_position_tolerance;
  double goal_orientation_tolerance;
  double goal_joint_tolerance;
  std::string end_effector_name;

  PlanningOptions()
      : set_planning_time(2.0), allow_replanning(false), num_attempts(1),
        end_effector_name(""), goal_position_tolerance(0.01),
        velocity_scaling_factor(0.75), acceleration_scaling_factor(1.0),
        goal_orientation_tolerance(0.01), goal_joint_tolerance(0.01){};

  PlanningOptions(double set_planning_time, bool allow_replanning,
                  int num_attempts, double goal_position_tolerance,
                  double velocity_scaling_factor,
                  double acceleration_scaling_factor,
                  double goal_orientation_tolerance,
                  double goal_joint_tolerance, std::string end_effector_name)
      : set_planning_time(set_planning_time),
        allow_replanning(allow_replanning), num_attempts(num_attempts),
        goal_position_tolerance(goal_position_tolerance),
        velocity_scaling_factor(velocity_scaling_factor),
        acceleration_scaling_factor(acceleration_scaling_factor),
        goal_orientation_tolerance(goal_orientation_tolerance),
        goal_joint_tolerance(goal_joint_tolerance){};
};
} // namespace shadow_planning