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: if set (1), then the searched collision-free nodes (organized in a search tree) will be visualized in red. Only the search tree having root at the start configuration will be visualized.
bit1: if set (2), then the searched collision-free nodes (organized in a search tree) will be visualized in blue. Only the search tree having root at the goal configuration will be visualized.
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: if set (64), then the found path will be directly simplified. This can take quite some time and is not part of the maximum calculation time specified. See also simSimplifyMpPath.
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. A distance calculation will use the weight specified for each joint in the motion planning properties.
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.
maxTimeInMs: the maximum time in milliseconds after which the search 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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