pro_rrt::PlanarRotationConstraint Struct Reference

#include <pro_rrt.hpp>

Public Attributes
const moveit::core::LinkModel *	constrained_link = nullptr
	The link to constrain. Must be a link of the planning group.
std::optional< Eigen::Isometry3d >	world_pose_reference = std::nullopt
double	angle_tolerance = 0.05

Detailed 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).

Member Data Documentation

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.

constrained_link

const moveit::core::LinkModel* pro_rrt::PlanarRotationConstraint::constrained_link = nullptr

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

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.

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

• pro_rrt.hpp