aikido::robot::util::VectorFieldPlannerParameters Struct Reference

Paramters for Vector Field Planner. More...

#include <aikido/robot/util.hpp>

Public Member Functions
	VectorFieldPlannerParameters (double distanceTolerance=defaultVFParams[0], double positionTolerance=defaultVFParams[1], double angularTolerance=defaultVFParams[2], double initialStepSize=defaultVFParams[3], double jointLimitTolerance=defaultVFParams[4], double constraintCheckResolution=defaultVFParams[5], std::chrono::duration< double > timeout=std::chrono::duration< double >(defaultVFParams[6]), double goalTolerance=defaultVFParams[7], double angleDistanceRatio=defaultVFParams[8])
	Struct Constructor. More...

Public Attributes
double	distanceTolerance
double	positionTolerance
double	angularTolerance
double	initialStepSize
double	jointLimitTolerance
double	constraintCheckResolution
std::chrono::duration< double >	timeout
double	goalTolerance
double	angleDistanceRatio

Detailed Description

Paramters for Vector Field Planner.

Constructor & Destructor Documentation

VectorFieldPlannerParameters()

aikido::robot::util::VectorFieldPlannerParameters::VectorFieldPlannerParameters ( double  distanceTolerance = defaultVFParams[0], double  positionTolerance = defaultVFParams[1], double  angularTolerance = defaultVFParams[2], double  initialStepSize = defaultVFParams[3], double  jointLimitTolerance = defaultVFParams[4], double  constraintCheckResolution = defaultVFParams[5], std::chrono::duration< double >  timeout = std::chrono::duration<double>(defaultVFParams[6]), double  goalTolerance = defaultVFParams[7], double  angleDistanceRatio = defaultVFParams[8]  )

inline

Struct Constructor.

Parameters

[in]	distanceTolerance	(m) How much a planned trajectory is allowed to deviate from the requested distance to move the body node
[in]	positionTolerance	(m) How a planned trajectory is allowed to deviated from a straight line segment defined by the offset
[in]	angularTolerance	(rad) How a planned trajectory is allowed to deviate from a given offset direction.
[in]	initialStepSize	(m) Initial step size.
[in]	jointLimitTolerance	(defined by joint) If less then this distance to joint limit, velocity is bounded in that direction to 0.
[in]	constraintCheckResolution	Resolution used in constraint checking.
[in]	timeout	timeout in seconds.

Member Data Documentation

angleDistanceRatio

double aikido::robot::util::VectorFieldPlannerParameters::angleDistanceRatio

angularTolerance

double aikido::robot::util::VectorFieldPlannerParameters::angularTolerance

constraintCheckResolution

double aikido::robot::util::VectorFieldPlannerParameters::constraintCheckResolution

distanceTolerance

double aikido::robot::util::VectorFieldPlannerParameters::distanceTolerance

goalTolerance

double aikido::robot::util::VectorFieldPlannerParameters::goalTolerance

initialStepSize

double aikido::robot::util::VectorFieldPlannerParameters::initialStepSize

jointLimitTolerance

double aikido::robot::util::VectorFieldPlannerParameters::jointLimitTolerance

positionTolerance

double aikido::robot::util::VectorFieldPlannerParameters::positionTolerance

timeout

std::chrono::duration<double> aikido::robot::util::VectorFieldPlannerParameters::timeout