cl_moveit2z::JointTrajectoryOptions Struct Reference

Configuration options for joint space trajectory planning. More...

#include <cp_joint_space_trajectory_planner.hpp>

Collaboration diagram for cl_moveit2z::JointTrajectoryOptions:

Public Attributes
std::optional< std::string >	tipLink
std::optional< std::string >	groupName
bool	allowInitialDiscontinuity = false
double	maxJointDiscontinuity = 0.3
int	ikAttempts = 4
bool	avoidCollisions = true
std::chrono::seconds	ikTimeout = 3s

Detailed Description

Configuration options for joint space trajectory planning.

Definition at line 55 of file cp_joint_space_trajectory_planner.hpp.

Member Data Documentation

allowInitialDiscontinuity

bool cl_moveit2z::JointTrajectoryOptions::allowInitialDiscontinuity = false

Definition at line 59 of file cp_joint_space_trajectory_planner.hpp.

Referenced by cl_moveit2z::CbMoveEndEffectorTrajectory::computeJointSpaceTrajectory().

avoidCollisions

bool cl_moveit2z::JointTrajectoryOptions::avoidCollisions = true

Definition at line 62 of file cp_joint_space_trajectory_planner.hpp.

groupName

std::optional<std::string> cl_moveit2z::JointTrajectoryOptions::groupName

Definition at line 58 of file cp_joint_space_trajectory_planner.hpp.

ikAttempts

int cl_moveit2z::JointTrajectoryOptions::ikAttempts = 4

Definition at line 61 of file cp_joint_space_trajectory_planner.hpp.

ikTimeout

std::chrono::seconds cl_moveit2z::JointTrajectoryOptions::ikTimeout = 3s

Definition at line 63 of file cp_joint_space_trajectory_planner.hpp.

maxJointDiscontinuity

double cl_moveit2z::JointTrajectoryOptions::maxJointDiscontinuity = 0.3

Definition at line 60 of file cp_joint_space_trajectory_planner.hpp.

tipLink

std::optional<std::string> cl_moveit2z::JointTrajectoryOptions::tipLink

Definition at line 57 of file cp_joint_space_trajectory_planner.hpp.

Referenced by cl_moveit2z::CbMoveEndEffectorTrajectory::computeJointSpaceTrajectory().

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

• smacc2_client_library/cl_moveit2z/include/cl_moveit2z/components/cp_joint_space_trajectory_planner.hpp