Package edu.tufts.hrilab.moveit.config.gson

Class MoveItConfig

java.lang.Object
edu.tufts.hrilab.moveit.config.gson.MoveItConfig
public class MoveItConfig extends Object

  • Field Details

    • configName

      public String configName

    • rosNamespace

      public String rosNamespace

    • defaultGroupName

      public String defaultGroupName

    • positionTolerance

      public float positionTolerance

    • angleTolerance

      public float angleTolerance

    • maxMoveToAttempts

      public int maxMoveToAttempts

    • maxPlanningTime

      public double maxPlanningTime

    • maxGripperPosition

      public float maxGripperPosition

    • armReach

      public float armReach

    • speedFactor

      public float speedFactor

    • accelFactor

      public float accelFactor

    • baseLinkString

      public String baseLinkString

    • pointingFrame

      public String pointingFrame

    • pressingFrame

      public String pressingFrame

    • graspAngle

      public javax.vecmath.Vector3d graspAngle

    • graspApproachOffset

      public float graspApproachOffset

    • graspContactOffset

      public float graspContactOffset

    • localStaticTransforms

      public LocalStaticTransform[] localStaticTransforms

    • poses

      public MoveItConfigPose[] poses

    • eeposes

      public MoveItConfigEEPose[] eeposes

    • collisions

      public MoveItConfigCollisionObject[] collisions

    • eeTransform

      public MoveItConfigPositionQuaternion eeTransform

    • allowDisableCollisionAvoidance

      public boolean allowDisableCollisionAvoidance

  • Constructor Details

    • MoveItConfig

      public MoveItConfig()

  • Method Details

    • getGroupNames

      public String[] getGroupNames()

    • getJointNamesMap

      public Map<String,String[]> getJointNamesMap()

    • getEndEffectorNameMap

      public Map<String,String> getEndEffectorNameMap()

    • getGripperClassMap

      public Map<String,GenericManipulator> getGripperClassMap()

    • getEETransform

      public javax.vecmath.Matrix4d getEETransform()