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PlanarRotationConstraint Struct

Declaration​

struct pro_rrt::PlanarRotationConstraint { ... }

Included Headers​

#include <pro_rrt.hpp>

Public Member Attributes Index​

const moveit_pro::base::LinkModel *constrained_link = nullptr

The link to constrain. Must be a link of the planning group. More...

std::optional< Eigen::Isometry3d >world_pose_reference = std::nullopt
doubleangle_tolerance = 0.05

Description​

Definition of a planar rotation constraint. This is a 2 DOF constraint, used to keep the orientation of a link constrained to allow only rotations around the world vertical axis (Z).

Definition at line 137 of file pro_rrt.hpp.

Public Member Attributes​

angle_tolerance​

double pro_rrt::PlanarRotationConstraint::angle_tolerance = 0.05

The angle tolerance to use for the orientation constraint. The value is in radians, and represents the maximum allowed off-plane angle for any orientation along the path. Rotations around the world vertical axis (assumed Z) are allowed.

Definition at line 152 of file pro_rrt.hpp.

constrained_link​

const moveit_pro::base::LinkModel* pro_rrt::PlanarRotationConstraint::constrained_link = nullptr

The link to constrain. Must be a link of the planning group.

Definition at line 140 of file pro_rrt.hpp.

world_pose_reference​

std::optional<Eigen::Isometry3d> pro_rrt::PlanarRotationConstraint::world_pose_reference = std::nullopt

The reference pose of the link in the world frame. The orientation of the reference link at any waypoint in the resulting plan should only be a rotation around the world vertical axis of this reference orientation. This can be optionally defined when the constraint is created, otherwise it will be created based on the pose of the constrained link at the beginning of planning.

Definition at line 147 of file pro_rrt.hpp.

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

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