PlanningError Struct
Definition of planning error return type with a string and optional collision results. More...
Declaration
Included Headers
Public Member Attributes Index
| std::string | message |
| std::optional< moveit_pro::base::collision_detection::CollisionResult > | collision_info = std::nullopt |
| std::optional< Eigen::VectorXd > | invalid_joint_positions = std::nullopt |
Description
Definition of planning error return type with a string and optional collision results.
Definition at line 208 of file pro_rrt.hpp.
Public Member Attributes
collision_info
|
Definition at line 213 of file pro_rrt.hpp.
invalid_joint_positions
|
Positions of the configuration that failed validation — one value per active variable of the planning group, in its active-variable order, so size() == group.getActiveVariableCount(). Set whenever a finite start or goal state was rejected — collision, joint limit, or orientation constraint tolerance. Empty when the failure names no safely visualizable configuration: no path found, a trajectory-timing failure, malformed input, or non-finite positions. So nullopt does not mean "no collision". Lets a caller render the offending configuration instead of parsing message. On a joint-limit rejection it is by definition outside the group's limits, so treat it as visualization and diagnostics only — never as a command target. For non-finite input, message still names the offending variables and values, but this field is omitted because forward kinematics cannot place the configuration safely.
Definition at line 224 of file pro_rrt.hpp.
message
|
Human-readable explanation of the refusal, as a standalone period-terminated sentence — safe to show an operator unchanged, or to append a further sentence after.
Definition at line 212 of file pro_rrt.hpp.
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