From 1424b51f796e133e4ff208f01128b8b691b41dce Mon Sep 17 00:00:00 2001 From: v4hn Date: Fri, 6 Apr 2018 02:13:31 +0800 Subject: [PATCH] expose typed setters in Cartesian solver --- .../moveit/task_constructor/solvers/cartesian_path.h | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/core/include/moveit/task_constructor/solvers/cartesian_path.h b/core/include/moveit/task_constructor/solvers/cartesian_path.h index 336d8dec..c9d2ff0b 100644 --- a/core/include/moveit/task_constructor/solvers/cartesian_path.h +++ b/core/include/moveit/task_constructor/solvers/cartesian_path.h @@ -50,6 +50,13 @@ public: void setGroup(const std::string &group) { setProperty("group", group); } void setTimeout(double timeout) { setProperty("timeout", timeout); } + void setStepSize(double step_size) { setProperty("step_size", step_size); } + void setJumpThreshold(double jump_threshold) { setProperty("jump_threshold", jump_threshold); } + void setMinFraction(double min_fraction) { setProperty("min_fraction", min_fraction); } + + void setMaxVelocityScaling(double factor) { setProperty("max_velocity_scaling_factor", factor); } + void setMaxAccelerationScaling(double factor) { setProperty("max_acceleration_scaling_factor", factor); } + void init(const moveit::core::RobotModelConstPtr& robot_model) override; bool plan(const planning_scene::PlanningSceneConstPtr from,