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PlanningError Struct

Definition of planning error return type with a string and optional collision results. More...

Declaration​

struct pro_rrt::PlanningError { ... }

Included Headers​

#include <pro_rrt.hpp>

Public Member Attributes Index​

std::stringmessage
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 172 of file pro_rrt.hpp.

Public Member Attributes​

collision_info​

std::optional<moveit_pro::base::collision_detection::CollisionResult> pro_rrt::PlanningError::collision_info = std::nullopt

Definition at line 175 of file pro_rrt.hpp.

invalid_joint_positions​

std::optional<Eigen::VectorXd> pro_rrt::PlanningError::invalid_joint_positions = std::nullopt

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 only when a start or goal state failed validation; a path-segment or constraint failure leaves it empty, so nullopt does not mean "no collision". Lets a caller render the offending configuration instead of parsing message.

Definition at line 182 of file pro_rrt.hpp.

message​

std::string pro_rrt::PlanningError::message

Definition at line 174 of file pro_rrt.hpp.

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

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