Actin®  Version 5.3.0 Software for Robotics Simulation and Control
EcRrtPathPlanner::Results Struct Reference

the results of path planning calculation More...

#include <ecRrtPathPlanner.h>

## Public Attributes

EcPath path
The collision-free path (in joint space)

EcReal elapsedTime
The time it took to calculate the path.

EcBoolean testPath
If true, it means that the path was calculated from the test path.

EcBoolean straightLine

EcManipulatorEndEffectorPlacement goal
The end-effector goal (set only if straightLine is true)

## Detailed Description

the results of path planning calculation

Examples:
ecPathPlanningCoreMain.cpp, and ecPathPlanningMain.cpp.

Definition at line 44 of file ecRrtPathPlanner.h.

## Member Data Documentation

 EcBoolean EcRrtPathPlanner::Results::straightLine

If true, it means that the straight line path can successfully move the robot towards the goal. This is only valid for when calculating a path to an EE goal, not joint goal. Also, if this is true, Then, goal will be set to the desired EE goal and path will not be set.

Examples:
ecPathPlanningCoreMain.cpp, and ecPathPlanningMain.cpp.

Definition at line 49 of file ecRrtPathPlanner.h.

The documentation for this struct was generated from the following file:
Created by Energid Technologies www.energid.com