Public Member Functions | Public Attributes | Private Member Functions | Private Attributes | List of all members
pr2_arm_kinematics::PR2ArmIKSolver Class Reference

#include <pr2_arm_kinematics_plugin.h>

Inheritance diagram for pr2_arm_kinematics::PR2ArmIKSolver:
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Public Member Functions

int CartToJnt (const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out) override
 
int cartToJntSearch (const KDL::JntArray &q_in, const KDL::Frame &p_in, KDL::JntArray &q_out, const double &timeout)
 
void getSolverInfo (moveit_msgs::KinematicSolverInfo &response)
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW PR2ArmIKSolver (const urdf::ModelInterface &robot_model, const std::string &root_frame_name, const std::string &tip_frame_name, const double &search_discretization_angle, const int &free_angle)
 ROS/KDL based interface for the inverse kinematics of the PR2 arm. More...
 
void updateInternalDataStructures ()
 
 ~PR2ArmIKSolver () override
 

Public Attributes

bool active_
 Indicates whether the solver has been successfully initialized. More...
 
PR2ArmIK pr2_arm_ik_
 The PR2 inverse kinematics solver. More...
 

Private Member Functions

bool getCount (int &count, const int &max_count, const int &min_count)
 

Private Attributes

int free_angle_
 
std::string root_frame_name_
 
double search_discretization_angle_
 

Detailed Description

Definition at line 101 of file pr2_arm_kinematics_plugin.h.

Constructor & Destructor Documentation

◆ PR2ArmIKSolver()

pr2_arm_kinematics::PR2ArmIKSolver::PR2ArmIKSolver ( const urdf::ModelInterface &  robot_model,
const std::string &  root_frame_name,
const std::string &  tip_frame_name,
const double &  search_discretization_angle,
const int &  free_angle 
)

ROS/KDL based interface for the inverse kinematics of the PR2 arm.

Author
Sachin Chitta sachi.nosp@m.nc@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m

This class provides a KDL based interface to the inverse kinematics of the PR2 arm. It inherits from the KDL::ChainIkSolverPos class but also exposes additional functionality to return multiple solutions from an inverse kinematics computation.

Definition at line 86 of file pr2_arm_kinematics_plugin.cpp.

◆ ~PR2ArmIKSolver()

pr2_arm_kinematics::PR2ArmIKSolver::~PR2ArmIKSolver ( )
inlineoverride

Definition at line 116 of file pr2_arm_kinematics_plugin.h.

Member Function Documentation

◆ CartToJnt()

int pr2_arm_kinematics::PR2ArmIKSolver::CartToJnt ( const KDL::JntArray &  q_init,
const KDL::Frame &  p_in,
KDL::JntArray &  q_out 
)
override

Definition at line 103 of file pr2_arm_kinematics_plugin.cpp.

◆ cartToJntSearch()

int pr2_arm_kinematics::PR2ArmIKSolver::cartToJntSearch ( const KDL::JntArray &  q_in,
const KDL::Frame &  p_in,
KDL::JntArray &  q_out,
const double &  timeout 
)

Definition at line 159 of file pr2_arm_kinematics_plugin.cpp.

◆ getCount()

bool pr2_arm_kinematics::PR2ArmIKSolver::getCount ( int &  count,
const int &  max_count,
const int &  min_count 
)
private

Definition at line 50 of file pr2_arm_kinematics_plugin.cpp.

◆ getSolverInfo()

void pr2_arm_kinematics::PR2ArmIKSolver::getSolverInfo ( moveit_msgs::KinematicSolverInfo &  response)
inline

Definition at line 141 of file pr2_arm_kinematics_plugin.h.

◆ updateInternalDataStructures()

void pr2_arm_kinematics::PR2ArmIKSolver::updateInternalDataStructures ( )

Definition at line 97 of file pr2_arm_kinematics_plugin.cpp.

Member Data Documentation

◆ active_

bool pr2_arm_kinematics::PR2ArmIKSolver::active_

Indicates whether the solver has been successfully initialized.

Definition at line 135 of file pr2_arm_kinematics_plugin.h.

◆ free_angle_

int pr2_arm_kinematics::PR2ArmIKSolver::free_angle_
private

Definition at line 151 of file pr2_arm_kinematics_plugin.h.

◆ pr2_arm_ik_

PR2ArmIK pr2_arm_kinematics::PR2ArmIKSolver::pr2_arm_ik_

The PR2 inverse kinematics solver.

Definition at line 130 of file pr2_arm_kinematics_plugin.h.

◆ root_frame_name_

std::string pr2_arm_kinematics::PR2ArmIKSolver::root_frame_name_
private

Definition at line 153 of file pr2_arm_kinematics_plugin.h.

◆ search_discretization_angle_

double pr2_arm_kinematics::PR2ArmIKSolver::search_discretization_angle_
private

Definition at line 149 of file pr2_arm_kinematics_plugin.h.


The documentation for this class was generated from the following files:


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Mar 3 2024 03:23:37