configCnt: the number of configuration nodes the pathBuffer contains.
options: bit-coded:
bit0: not used. Keep unset.
bit1: not used. 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: not used, keep unset.
bit7: not used, keep unset.
bit8: if set (256), then the returned Cartesian space distances will ignore the orientational distance component.
stepSize: the maximum configuration space distance between individual collision-free phase2 nodes. the distance calculation will use the weight specified for each joint in the motion planning properties.
increment: a value indicating how fine-grainer the simplification should be. 1 for best quality.
outputConfigsCnt: a pointer to an integer receiving the number of returned configurations.
maxTimeInMs: the maximum time in milliseconds after which the simplification operation is aborted. Specify 0 for an infinite time.
reserved: reserved. Keep NULL.
auxIntParams: reserved. Keep NULL.
auxFloatParams: reserved. Keep NULL.
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