Declaration
struct pro_rrt::ScenarioInput { ... }
#include <scenario_interface.hpp>
Public Member Attributes Index
Description
Captured snapshot of every input that drives a planTrajectoryToJointGoal(...) call. Today captured by the PlanToJointGoal BT behavior, but the struct is behavior-agnostic — any caller that ends up invoking planTrajectoryToJointGoal could fill this in. Constraints are stored in name/scalar form (link names + tolerance, joint-name + lower/upper) because the world_pose_reference for orientation constraints and the joint-index lookup for joint-range constraints are recomputed from the captured planning scene at replay time — they cannot be serialized in isolation.
Definition at line 43 of file scenario_interface.hpp.
Public Member Attributes
goal_joint_names
| std::vector<std::string> pro_rrt::ScenarioInput::goal_joint_names |
|
goal_joint_positions
| std::vector<double> pro_rrt::ScenarioInput::goal_joint_positions |
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joint_range_constraint
| std::vector<JointRangeEntry> pro_rrt::ScenarioInput::joint_range_constraint |
|
keep_orientation
| bool pro_rrt::ScenarioInput::keep_orientation = false |
|
keep_orientation_link_names
| std::vector<std::string> pro_rrt::ScenarioInput::keep_orientation_link_names |
|
keep_orientation_tolerance
| double pro_rrt::ScenarioInput::keep_orientation_tolerance = 0.05 |
|
link_padding
| double pro_rrt::ScenarioInput::link_padding = 0.0 |
|
planning_group_name
| std::string pro_rrt::ScenarioInput::planning_group_name |
|
rrt_params
| RRTParams pro_rrt::ScenarioInput::rrt_params {} |
|
trajectory_params
| TrajectoryParams pro_rrt::ScenarioInput::trajectory_params {} |
|
The documentation for this struct was generated from the following file:
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