pro_rrt::PlanningError Struct Reference

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

#include <pro_rrt.hpp>

Public Attributes
std::string	message
std::optional< moveit_pro::base::collision_detection::CollisionResult >	collision_info = std::nullopt
std::optional< Eigen::VectorXd >	invalid_joint_positions = std::nullopt

Detailed Description

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

Member Data Documentation

collision_info

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

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.

message

std::string pro_rrt::PlanningError::message

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

• planners/pro_rrt/include/pro_rrt/pro_rrt.hpp