Drake
PlannerConfiguration Struct Reference

Information required to set up a planner for a pick-and-place task. More...

#include <drake/examples/kuka_iiwa_arm/pick_and_place/pick_and_place_configuration.h>

Collaboration diagram for PlannerConfiguration:
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Public Attributes

std::string model_path
 Path (relative to DRAKE_RESOURCE_ROOT) to the model file describing the robot arm. More...
 
std::string end_effector_name
 Name of the end-effector link on the robot arm. More...
 
RobotBaseIndex robot_index {0}
 Type-safe index indicating for which robot arm in the scenario this planner is intended. More...
 
TargetIndex target_index {0}
 Type-safe index indicating which object in the scenario this planner should treat as the manipulation target. More...
 
Vector3< doubletarget_dimensions
 Axis-aligned bounding-box dimensions for the target object. More...
 
double period_sec {0.25}
 Period at which the state machine should update. More...
 
int num_tables {0}
 Number of tables for which the planner should expect to receive pose inputs. More...
 

Detailed Description

Information required to set up a planner for a pick-and-place task.

Member Data Documentation

std::string end_effector_name

Name of the end-effector link on the robot arm.

std::string model_path

Path (relative to DRAKE_RESOURCE_ROOT) to the model file describing the robot arm.

int num_tables {0}

Number of tables for which the planner should expect to receive pose inputs.

double period_sec {0.25}

Period at which the state machine should update.

RobotBaseIndex robot_index {0}

Type-safe index indicating for which robot arm in the scenario this planner is intended.

Vector3<double> target_dimensions

Axis-aligned bounding-box dimensions for the target object.

TargetIndex target_index {0}

Type-safe index indicating which object in the scenario this planner should treat as the manipulation target.


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