startConfig: the start or initial configuration of the robot (i.e. its joint positions). Should contain x values where x is the number of DoFs of the specified motion planning task.
goalConfig: the goal configuration of the robot (i.e. its joint positions). Should contain x values where x is the number of DoFs of the specified motion planning task. You can use simGetConfigForTipPose if the goal configuration is not known.
options: bit-coded:
bit0 (1): reserved. Keep unset.
bit1 (2): reserved. Keep unset.
bit2: if set (4), then the found path will be visualized in yellow.
bit3: if set (8), then some information will be output to the console.
bit4: if set (16), then robot self-interferences will be ignored and calculations can drastically be sped-up.
bit5: if set (32), then robot-environment interferences will be ignored and calculations can drastically be sped-up.
bit6 (64): reserved. Keep unset.
bit7 (128): reserved. Keep unset.
bit8: if set (256), then the returned Cartesian space distances will ignore the orientational distance component.
bit9: if set (512), then the specified waypoints will be followed by the end-effector in the Cartesian space. For that to happen, IK will be used too. If no waypoints are specified, then the end-effector will link the start to the goal configuration via a straight path in the Cartesian space.
select: an optional array that describes the behaviour of specific joints during the operation, when bit9 of options is set. Can be NULL, in which case all joints are treated equally. The first value in the array indicates how many joint behaviour descriptions will follow. Then, joint behaviour descriptions are appended, with 2 values per joint:
value 1: a joint handle.
value 2: a value indicating how the joint will be handled during the path search operation:
0: the joint will be fixed, i.e. perform an exact interpolation between the start and goal configuration.
1-7: the weight of the joint during the IK operations: 1=weight is 0.5, 2=weight is 0.25, 3=weight is 0.1, 4=weight is 0.05, 5=weight is 0.025, 6=weight is 0.01, and 7=weight is 0.001
A good strategy for redundant manipulators with redundancy level n, is to fix n joints, if resolution is not successful by keeping the select argument NULL.
calcStepSize: the maximum configuration space distance between individual collision-free phase2 nodes, during the interpolation phase. A distance calculation will use the weight specified for each joint in the motion planning properties.
maxOutCalcStepSize: the maximum configuration space distance between individual collision-free phase2 nodes, after the IK calculation phase. Keep this distance larger than calcStepSize. A distance calculation will use the weight specified for each joint in the motion planning properties.
wayPointCnt: the number of provided waypoints. Providing waypoints is optional, and only makes sense if bit9 of options is set. If no waypoints are provided, this should be 0. Otherwise this should be at least 2.
wayPoints: an array that contains optional waypoints. If no waypoints are provided, this should be NULL. For n waypoints, this array should contain n*7 values: for each waypoint, provide the x,y,z coordinates, and the quaternion values (qx,qy,qz,qw).
outputConfigsCnt: a pointer to an integer receiving the number of returned configurations. If a single configuration is returned, this means that the specified start and goal configurations are coincident.
auxIntParams: reserved. Keep NULL.
auxFloatParams: reserved. Keep NULL.
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