Struct to set planning parameters for MoveIt planning. More...

Public Member Functions
	PlanningOptions ()
	Default constructor, sets some reasonable defaults. More...

	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)
	Custom constructor, for setting user defined values. More...

Public Attributes
double	set_planning_time
	Planning time limit. More...

int	num_attempts
	Number of attempts for replanning. More...

bool	allow_replanning
	Allow replanning if solution not found. More...

double	velocity_scaling_factor
	The scaling factor for velocity of UR-10. More...

double	acceleration_scaling_factor
	The scaling factor for acceleration of UR-10. More...

double	goal_position_tolerance
	Tolerance in goal position when planning. More...

double	goal_orientation_tolerance
	Tolerance in goal orientation when planning. More...

double	goal_joint_tolerance
	Tolerance in goal joint angle when planning. More...

std::string	end_effector_name
	Name of end effector to plan for. More...

Detailed Description

Struct to set planning parameters for MoveIt planning.

Constructor & Destructor Documentation

shadow_planning::PlanningOptions::PlanningOptions ( )

inline

Default constructor, sets some reasonable defaults.

shadow_planning::PlanningOptions::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
	)

inline

Custom constructor, for setting user defined values.

Parameters

set_planning_time	Set time limit for completing planning
allow_replanning	Allow replanning if failed or solution not found
num_attempts	The number of attempts allowed for replanning
goal_position_tolerance	The position tolerance for reaching goal
goal_orientation_tolerance	The orientation tolerance for reaching goal
goal_joint_tolerance	The joint angle tolerance for reaching goal
end_effector_name	The name of the end effector being planned for
velocity_scaling_factor	The scaling factor for velocity of UR-10
acceleration_scaling_factor	The scaling factor for acceleration of UR-10

shadow_planning::PlanningOptions::acceleration_scaling_factor

The scaling factor for acceleration of UR-10.

shadow_planning::PlanningOptions::allow_replanning

Allow replanning if solution not found.

shadow_planning::PlanningOptions::end_effector_name

Name of end effector to plan for.

shadow_planning::PlanningOptions::goal_joint_tolerance

Tolerance in goal joint angle when planning.

shadow_planning::PlanningOptions::goal_orientation_tolerance

Tolerance in goal orientation when planning.

shadow_planning::PlanningOptions::goal_position_tolerance

Tolerance in goal position when planning.

shadow_planning::PlanningOptions::num_attempts

Number of attempts for replanning.

shadow_planning::PlanningOptions::set_planning_time

Planning time limit.

shadow_planning::PlanningOptions::velocity_scaling_factor

The scaling factor for velocity of UR-10.

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

/home/user/workspace/src/shadowlibs/include/shadowlibs/shadow_planning_options.hpp