rpos::features::motion_planner::MoveOptionFlag Enum Type
MoveOptionFlag contains all available robot movement options.
Header Files
rpos/features/motion_planner/feature.h
Applies to
- Slamware
Items
| Item | Value | Description |
|---|---|---|
MoveOptionFlagNone |
0x00000000 | No option |
MoveOptionFlagAppending |
0x00000001 | A new milestone will be appended to the end of the current working milestone list. Current moveTo action won't get aborted. |
MoveOptionFlagMilestone |
0x00000002 | Path planning will be preform for a milestone point |
MoveOptionFlagNoSmooth |
0x00000004 | No path smoothing will be applied to the path been calculated |
MoveOptionFlagKeyPoints |
0x00000008 | Make the robot always use a specified pre-planned path. Once obstacle occurs, the robot simply stops. |
MoveOptionFlagPrecise |
0x00000010 | Make the robot try its best to coincide to the target poinst with highest precision. |
MoveOptionFlagWithYaw |
0x00000020 | Make the robot to trun to a specific heading after all the target points has been reached. |
MoveOptionFlagReturnUnreachableDirectly |
0x00000040 | Once set, the action simply exit with error once the target destination point is occupied by obstacles. Otherwise, the robot will reach to another point which is close to the original target point. |
MoveOptionFlagKeyPointsWithOA |
0x00000080 | Make the robot always prefer to use a specified pre-planned path unless obstacle happens. |
MoveOptionFlagDisableGoUnknownSpace |
0x00000100 | Prevent the robot from navigating to unknown space when mapping. |
MoveOptionFlagWithFailRetryCount |
0x00000200 | Customize action fail retry times. |
MoveOptionFlagOnlyUseGlobalCostMap |
0x00000400 | Enable system utilize global cost map search path while search path fail at first. |