cached_ik_kinematics_plugin::IKCacheMap Class Reference

#include <cached_ik_kinematics_plugin.h>

Inheritance diagram for cached_ik_kinematics_plugin::IKCacheMap:

Public Types
using	IKEntry = IKCache::IKEntry
using	Pose = IKCache::Pose

Public Member Functions
const IKEntry &	getBestApproximateIKSolution (const std::vector< std::string > &fixed, const std::vector< std::string > &active, const std::vector< Pose > &poses) const
	IKCacheMap (const std::string &robot_description, const std::string &group_name, unsigned int num_joints)
void	updateCache (const IKEntry &nearest, const std::vector< std::string > &fixed, const std::vector< std::string > &active, const std::vector< Pose > &poses, const std::vector< double > &config)
	~IKCacheMap ()

Protected Member Functions
std::string	getKey (const std::vector< std::string > &fixed, const std::vector< std::string > &active) const

Protected Attributes
std::string	group_name_
unsigned int	num_joints_
std::string	robot_description_

Detailed Description

a container of IK caches for cases where there is no fixed base frame

Definition at line 181 of file cached_ik_kinematics_plugin.h.

Member Typedef Documentation

IKEntry

using cached_ik_kinematics_plugin::IKCacheMap::IKEntry = IKCache::IKEntry

Definition at line 184 of file cached_ik_kinematics_plugin.h.

Pose

using cached_ik_kinematics_plugin::IKCacheMap::Pose = IKCache::Pose

Definition at line 185 of file cached_ik_kinematics_plugin.h.

Constructor & Destructor Documentation

IKCacheMap()

cached_ik_kinematics_plugin::IKCacheMap::IKCacheMap	(	const std::string &	robot_description,
		const std::string &	group_name,
		unsigned int	num_joints
	)

Definition at line 317 of file ik_cache.cpp.

~IKCacheMap()

cached_ik_kinematics_plugin::IKCacheMap::~IKCacheMap

(

)

Definition at line 322 of file ik_cache.cpp.

Member Function Documentation

getBestApproximateIKSolution()

const IKCache::IKEntry & cached_ik_kinematics_plugin::IKCacheMap::getBestApproximateIKSolution	(	const std::vector< std::string > &	fixed,
		const std::vector< std::string > &	active,
		const std::vector< Pose > &	poses
	)		const

get the entry from the IK cache that best matches a given vector of poses, with a specified set of fixed and active tip links

Definition at line 328 of file ik_cache.cpp.

getKey()

std::string cached_ik_kinematics_plugin::IKCacheMap::getKey ( const std::vector< std::string > &  fixed, const std::vector< std::string > &  active  ) const

protected

Definition at line 360 of file ik_cache.cpp.

updateCache()

void cached_ik_kinematics_plugin::IKCacheMap::updateCache	(	const IKEntry &	nearest,
		const std::vector< std::string > &	fixed,
		const std::vector< std::string > &	active,
		const std::vector< Pose > &	poses,
		const std::vector< double > &	config
	)

insert (pose,config) as an entry if it's different enough from the most similar cache entry

Definition at line 343 of file ik_cache.cpp.

Member Data Documentation

group_name_

std::string cached_ik_kinematics_plugin::IKCacheMap::group_name_

protected

Definition at line 207 of file cached_ik_kinematics_plugin.h.

num_joints_

unsigned int cached_ik_kinematics_plugin::IKCacheMap::num_joints_

protected

Definition at line 208 of file cached_ik_kinematics_plugin.h.

robot_description_

std::string cached_ik_kinematics_plugin::IKCacheMap::robot_description_

protected

Definition at line 206 of file cached_ik_kinematics_plugin.h.

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

• cached_ik_kinematics_plugin.h
• ik_cache.cpp