MoveIt Pro API
Core Behaviors for MoveIt Pro
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Public Member Functions | Public Attributes | Static Public Attributes | List of all members
cartesian_planning::PathIKOptions Struct Reference

#include <path_ik.hpp>

Public Member Functions

PathIKOptions & setBlendingRadius (double blending_radius)
 
PathIKOptions & setTipConstraint (TipConstraint tip_constraint)
 
PathIKOptions & setTipOffset (const Eigen::Isometry3d &tip_offset)
 
PathIKOptions & setJointLimitAvoidanceParameters (double activation_fraction, double gain)
 

Public Attributes

double blending_radius = kDefaultBlendingRadius
 
TipConstraint tip_constraint = TipConstraint::kPositionOnly
 
Eigen::Isometry3d tip_offset = Eigen::Isometry3d::Identity()
 
double joint_limit_cost_activation_fraction = kDefaultJointLimitCostActivationFraction
 
double joint_limit_cost_gain = kDefaultJointLimitCostGain
 

Static Public Attributes

static constexpr double kDefaultBlendingRadius = 0.001
 
static constexpr TipConstraint kDefaultTipConstraint = TipConstraint::kPositionOnly
 
static constexpr double kDefaultJointLimitCostActivationFraction = 0.05
 
static constexpr double kDefaultJointLimitCostGain = 0.4
 

Detailed Description

Options passed to the Path Inverse Kinematics solver.

Use method chaining for in-line construction and modification, e.g: pathIK(..., PathIKOptions().setBlendingRadius(0.1), ...);

Member Function Documentation

◆ setBlendingRadius()

PathIKOptions & cartesian_planning::PathIKOptions::setBlendingRadius ( double  blending_radius)
inline

◆ setJointLimitAvoidanceParameters()

PathIKOptions & cartesian_planning::PathIKOptions::setJointLimitAvoidanceParameters ( double  activation_fraction,
double  gain 
)
inline

◆ setTipConstraint()

PathIKOptions & cartesian_planning::PathIKOptions::setTipConstraint ( TipConstraint  tip_constraint)
inline

◆ setTipOffset()

PathIKOptions & cartesian_planning::PathIKOptions::setTipOffset ( const Eigen::Isometry3d &  tip_offset)
inline

Member Data Documentation

◆ blending_radius

double cartesian_planning::PathIKOptions::blending_radius = kDefaultBlendingRadius

◆ joint_limit_cost_activation_fraction

double cartesian_planning::PathIKOptions::joint_limit_cost_activation_fraction = kDefaultJointLimitCostActivationFraction

◆ joint_limit_cost_gain

double cartesian_planning::PathIKOptions::joint_limit_cost_gain = kDefaultJointLimitCostGain

◆ kDefaultBlendingRadius

constexpr double cartesian_planning::PathIKOptions::kDefaultBlendingRadius = 0.001
staticconstexpr

◆ kDefaultJointLimitCostActivationFraction

constexpr double cartesian_planning::PathIKOptions::kDefaultJointLimitCostActivationFraction = 0.05
staticconstexpr

◆ kDefaultJointLimitCostGain

constexpr double cartesian_planning::PathIKOptions::kDefaultJointLimitCostGain = 0.4
staticconstexpr

◆ kDefaultTipConstraint

constexpr TipConstraint cartesian_planning::PathIKOptions::kDefaultTipConstraint = TipConstraint::kPositionOnly
staticconstexpr

◆ tip_constraint

TipConstraint cartesian_planning::PathIKOptions::tip_constraint = TipConstraint::kPositionOnly

◆ tip_offset

Eigen::Isometry3d cartesian_planning::PathIKOptions::tip_offset = Eigen::Isometry3d::Identity()
The documentation for this struct was generated from the following file: