pro_rrt::ScenarioInput Struct Reference

#include <scenario_interface.hpp>

Collaboration diagram for pro_rrt::ScenarioInput:

Public Attributes
std::string	planning_group_name
std::vector< std::string >	goal_joint_names
std::vector< double >	goal_joint_positions
RRTParams	rrt_params {}
TrajectoryParams	trajectory_params {}
double	link_padding = 0.0
bool	keep_orientation = false
double	keep_orientation_tolerance = 0.05
std::vector< std::string >	keep_orientation_link_names
std::vector< JointRangeEntry >	joint_range_constraint

Detailed 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.

Member Data Documentation

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

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 {}

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

• scenario_interface.hpp