Functions | Variables
create_ikfast_moveit_plugin Namespace Reference

Functions

def update_deps (reqd_deps, req_type, e_parent)
 

Variables

list build_deps = ["liblapack-dev", "moveit_core", "pluginlib", "roscpp", "tf2_kdl"]
 
 cl = etree.SubElement(plugin_def, "class")
 
string cmake_file = plugin_pkg_dir+'/CMakeLists.txt'
 
string cmake_template_file = plugin_gen_dir+"/templates/CMakeLists.txt"
 
string def_file_base = ik_library_name + "_description.xml"
 
string def_file_name = plugin_pkg_dir + "/" + def_file_base
 
 default_flow_style
 
 desc = etree.SubElement(cl, "description")
 
string easy_script_file_name = "update_ikfast_plugin.sh"
 
string easy_script_file_path = plugin_pkg_dir + "/" + easy_script_file_name
 
 encoding
 
 export_element = package_xml.getroot().find("export")
 
 f
 
bool found = False
 
tuple foundName = (g.get('name').lower() == planning_group_name.lower())
 
 groups = srdf.findall('group')
 
string header_file_name = plugin_pkg_dir+'/include/ikfast.h'
 
string ik_library_name = robot_name + "_" + planning_group_name + "_moveit_ikfast_plugin"
 
 ikfast_output_file = sys.argv[5]
 
 kin_yaml_data = yaml.safe_load(f)
 
string kin_yaml_file_name = plan_pkg_dir+"/config/kinematics.yaml"
 
 line_search = re.search('ikfast version (.*) generated', line)
 
 moveit_plugin_pkg = sys.argv[3]
 
 new_export
 
string package_file_name = plugin_pkg_dir+"/package.xml"
 
 package_xml = etree.parse(package_file_name, parser)
 
 parser = etree.XMLParser(remove_blank_text=True)
 
string plan_pkg = robot_name + '_moveit_config'
 
 plan_pkg_dir = roslib.packages.get_pkg_dir(plan_pkg)
 
 planning_group = None
 
 planning_group_name = sys.argv[2]
 
 plugin_def = etree.Element("library", path="lib/lib"+ik_library_name)
 
string plugin_file_base = robot_name + '_' + planning_group_name + '_ikfast_moveit_plugin.cpp'
 
string plugin_file_name = plugin_pkg_dir + '/src/' + plugin_file_base
 
 plugin_gen_dir = os.path.join(roslib.packages.get_pkg_dir(plugin_gen_pkg), plugin_sub_dir)
 
string plugin_gen_pkg = 'moveit_kinematics'
 
string plugin_name = robot_name + '_' + planning_group_name + \
 
 plugin_pkg = moveit_plugin_pkg
 
 plugin_pkg_dir = roslib.packages.get_pkg_dir(plugin_pkg)
 
string plugin_pkg_include_dir = plugin_pkg_dir+'/include/'
 
string plugin_pkg_src_dir = plugin_pkg_dir+'/src/'
 
string plugin_sub_dir = 'ikfast_kinematics_plugin'
 
 pretty_print
 
 robot_name = sys.argv[1]
 
list run_deps = ["liblapack-dev", "moveit_core", "pluginlib", "roscpp", "tf2_kdl"]
 
 search_mode = sys.argv[4]
 
list search_modes = ['OPTIMIZE_MAX_JOINT', 'OPTIMIZE_FREE_JOINT' ]
 
bool skip = False
 
string solver_file_name = plugin_pkg_dir+'/src/'+robot_name+'_'+planning_group_name+'_ikfast_solver.cpp'
 
int solver_version = 0
 
 srdf = etree.parse(srdf_file_name).getroot()
 
 srdf_file_name = srdf_files[0]
 
 srdf_files = glob.glob(plan_pkg_dir+'/config/*.srdf')
 
 template_file_data = open(template_file_name, 'r')
 
string template_file_name = plugin_gen_dir + '/templates/ikfast' + str(template_version) + '_moveit_plugin_template.cpp'
 
string template_header_file = plugin_gen_dir + '/templates/ikfast.h'
 
 template_text = template_file_data.read()
 
int template_version = 61
 
 text
 
 True
 
 xml_declaration
 

Detailed Description

IKFast Plugin Generator for MoveIt!

Creates a kinematics plugin using the output of IKFast from OpenRAVE.
This plugin and the move_group node can be used as a general
kinematics service, from within the moveit planning environment, or in
your own ROS node.

Author: Dave Coleman, CU Boulder
        Based heavily on the arm_kinematic_tools package by Jeremy Zoss, SwRI
        and the arm_navigation plugin generator by David Butterworth, KAIST
Date: March 2013

Function Documentation

◆ update_deps()

def create_ikfast_moveit_plugin.update_deps (   reqd_deps,
  req_type,
  e_parent 
)

Definition at line 284 of file create_ikfast_moveit_plugin.py.

Variable Documentation

◆ build_deps

list create_ikfast_moveit_plugin.build_deps = ["liblapack-dev", "moveit_core", "pluginlib", "roscpp", "tf2_kdl"]

Definition at line 281 of file create_ikfast_moveit_plugin.py.

◆ cl

create_ikfast_moveit_plugin.cl = etree.SubElement(plugin_def, "class")

Definition at line 237 of file create_ikfast_moveit_plugin.py.

◆ cmake_file

string create_ikfast_moveit_plugin.cmake_file = plugin_pkg_dir+'/CMakeLists.txt'

Definition at line 261 of file create_ikfast_moveit_plugin.py.

◆ cmake_template_file

string create_ikfast_moveit_plugin.cmake_template_file = plugin_gen_dir+"/templates/CMakeLists.txt"

Definition at line 255 of file create_ikfast_moveit_plugin.py.

◆ def_file_base

string create_ikfast_moveit_plugin.def_file_base = ik_library_name + "_description.xml"

Definition at line 245 of file create_ikfast_moveit_plugin.py.

◆ def_file_name

string create_ikfast_moveit_plugin.def_file_name = plugin_pkg_dir + "/" + def_file_base

Definition at line 246 of file create_ikfast_moveit_plugin.py.

◆ default_flow_style

create_ikfast_moveit_plugin.default_flow_style

Definition at line 320 of file create_ikfast_moveit_plugin.py.

◆ desc

create_ikfast_moveit_plugin.desc = etree.SubElement(cl, "description")

Definition at line 241 of file create_ikfast_moveit_plugin.py.

◆ easy_script_file_name

string create_ikfast_moveit_plugin.easy_script_file_name = "update_ikfast_plugin.sh"

Definition at line 324 of file create_ikfast_moveit_plugin.py.

◆ easy_script_file_path

string create_ikfast_moveit_plugin.easy_script_file_path = plugin_pkg_dir + "/" + easy_script_file_name

Definition at line 325 of file create_ikfast_moveit_plugin.py.

◆ encoding

create_ikfast_moveit_plugin.encoding

Definition at line 248 of file create_ikfast_moveit_plugin.py.

◆ export_element

create_ikfast_moveit_plugin.export_element = package_xml.getroot().find("export")

Definition at line 297 of file create_ikfast_moveit_plugin.py.

◆ f

create_ikfast_moveit_plugin.f

Definition at line 248 of file create_ikfast_moveit_plugin.py.

◆ found

tuple create_ikfast_moveit_plugin.found = False

Definition at line 300 of file create_ikfast_moveit_plugin.py.

◆ foundName

tuple create_ikfast_moveit_plugin.foundName = (g.get('name').lower() == planning_group_name.lower())

Definition at line 130 of file create_ikfast_moveit_plugin.py.

◆ groups

create_ikfast_moveit_plugin.groups = srdf.findall('group')

Definition at line 115 of file create_ikfast_moveit_plugin.py.

◆ header_file_name

string create_ikfast_moveit_plugin.header_file_name = plugin_pkg_dir+'/include/ikfast.h'

Definition at line 204 of file create_ikfast_moveit_plugin.py.

◆ ik_library_name

string create_ikfast_moveit_plugin.ik_library_name = robot_name + "_" + planning_group_name + "_moveit_ikfast_plugin"

Definition at line 233 of file create_ikfast_moveit_plugin.py.

◆ ikfast_output_file

create_ikfast_moveit_plugin.ikfast_output_file = sys.argv[5]

Definition at line 66 of file create_ikfast_moveit_plugin.py.

◆ kin_yaml_data

create_ikfast_moveit_plugin.kin_yaml_data = yaml.safe_load(f)

Definition at line 317 of file create_ikfast_moveit_plugin.py.

◆ kin_yaml_file_name

string create_ikfast_moveit_plugin.kin_yaml_file_name = plan_pkg_dir+"/config/kinematics.yaml"

Definition at line 315 of file create_ikfast_moveit_plugin.py.

◆ line_search

create_ikfast_moveit_plugin.line_search = re.search('ikfast version (.*) generated', line)

Definition at line 177 of file create_ikfast_moveit_plugin.py.

◆ moveit_plugin_pkg

create_ikfast_moveit_plugin.moveit_plugin_pkg = sys.argv[3]

Definition at line 64 of file create_ikfast_moveit_plugin.py.

◆ new_export

create_ikfast_moveit_plugin.new_export
Initial value:
1 = etree.Element("moveit_core", \
2  plugin="${prefix}/"+def_file_base)

Definition at line 295 of file create_ikfast_moveit_plugin.py.

◆ package_file_name

string create_ikfast_moveit_plugin.package_file_name = plugin_pkg_dir+"/package.xml"

Definition at line 277 of file create_ikfast_moveit_plugin.py.

◆ package_xml

create_ikfast_moveit_plugin.package_xml = etree.parse(package_file_name, parser)

Definition at line 278 of file create_ikfast_moveit_plugin.py.

◆ parser

create_ikfast_moveit_plugin.parser = etree.XMLParser(remove_blank_text=True)

Definition at line 276 of file create_ikfast_moveit_plugin.py.

◆ plan_pkg

string create_ikfast_moveit_plugin.plan_pkg = robot_name + '_moveit_config'

Definition at line 84 of file create_ikfast_moveit_plugin.py.

◆ plan_pkg_dir

create_ikfast_moveit_plugin.plan_pkg_dir = roslib.packages.get_pkg_dir(plan_pkg)

Definition at line 85 of file create_ikfast_moveit_plugin.py.

◆ planning_group

create_ikfast_moveit_plugin.planning_group = None

Definition at line 128 of file create_ikfast_moveit_plugin.py.

◆ planning_group_name

create_ikfast_moveit_plugin.planning_group_name = sys.argv[2]

Definition at line 63 of file create_ikfast_moveit_plugin.py.

◆ plugin_def

create_ikfast_moveit_plugin.plugin_def = etree.Element("library", path="lib/lib"+ik_library_name)

Definition at line 236 of file create_ikfast_moveit_plugin.py.

◆ plugin_file_base

string create_ikfast_moveit_plugin.plugin_file_base = robot_name + '_' + planning_group_name + '_ikfast_moveit_plugin.cpp'

Definition at line 225 of file create_ikfast_moveit_plugin.py.

◆ plugin_file_name

string create_ikfast_moveit_plugin.plugin_file_name = plugin_pkg_dir + '/src/' + plugin_file_base

Definition at line 227 of file create_ikfast_moveit_plugin.py.

◆ plugin_gen_dir

create_ikfast_moveit_plugin.plugin_gen_dir = os.path.join(roslib.packages.get_pkg_dir(plugin_gen_pkg), plugin_sub_dir)

Definition at line 185 of file create_ikfast_moveit_plugin.py.

◆ plugin_gen_pkg

string create_ikfast_moveit_plugin.plugin_gen_pkg = 'moveit_kinematics'

Definition at line 54 of file create_ikfast_moveit_plugin.py.

◆ plugin_name

string create_ikfast_moveit_plugin.plugin_name = robot_name + '_' + planning_group_name + \

Definition at line 234 of file create_ikfast_moveit_plugin.py.

◆ plugin_pkg

create_ikfast_moveit_plugin.plugin_pkg = moveit_plugin_pkg

Definition at line 91 of file create_ikfast_moveit_plugin.py.

◆ plugin_pkg_dir

create_ikfast_moveit_plugin.plugin_pkg_dir = roslib.packages.get_pkg_dir(plugin_pkg)

Definition at line 92 of file create_ikfast_moveit_plugin.py.

◆ plugin_pkg_include_dir

string create_ikfast_moveit_plugin.plugin_pkg_include_dir = plugin_pkg_dir+'/include/'

Definition at line 142 of file create_ikfast_moveit_plugin.py.

◆ plugin_pkg_src_dir

string create_ikfast_moveit_plugin.plugin_pkg_src_dir = plugin_pkg_dir+'/src/'

Definition at line 141 of file create_ikfast_moveit_plugin.py.

◆ plugin_sub_dir

string create_ikfast_moveit_plugin.plugin_sub_dir = 'ikfast_kinematics_plugin'

Definition at line 55 of file create_ikfast_moveit_plugin.py.

◆ pretty_print

create_ikfast_moveit_plugin.pretty_print

Definition at line 248 of file create_ikfast_moveit_plugin.py.

◆ robot_name

create_ikfast_moveit_plugin.robot_name = sys.argv[1]

Definition at line 62 of file create_ikfast_moveit_plugin.py.

◆ run_deps

list create_ikfast_moveit_plugin.run_deps = ["liblapack-dev", "moveit_core", "pluginlib", "roscpp", "tf2_kdl"]

Definition at line 282 of file create_ikfast_moveit_plugin.py.

◆ search_mode

list create_ikfast_moveit_plugin.search_mode = sys.argv[4]

Definition at line 67 of file create_ikfast_moveit_plugin.py.

◆ search_modes

list create_ikfast_moveit_plugin.search_modes = ['OPTIMIZE_MAX_JOINT', 'OPTIMIZE_FREE_JOINT' ]

Definition at line 57 of file create_ikfast_moveit_plugin.py.

◆ skip

bool create_ikfast_moveit_plugin.skip = False

Definition at line 159 of file create_ikfast_moveit_plugin.py.

◆ solver_file_name

string create_ikfast_moveit_plugin.solver_file_name = plugin_pkg_dir+'/src/'+robot_name+'_'+planning_group_name+'_ikfast_solver.cpp'

Definition at line 157 of file create_ikfast_moveit_plugin.py.

◆ solver_version

create_ikfast_moveit_plugin.solver_version = 0

Definition at line 173 of file create_ikfast_moveit_plugin.py.

◆ srdf

create_ikfast_moveit_plugin.srdf = etree.parse(srdf_file_name).getroot()

Definition at line 105 of file create_ikfast_moveit_plugin.py.

◆ srdf_file_name

string create_ikfast_moveit_plugin.srdf_file_name = srdf_files[0]

Definition at line 102 of file create_ikfast_moveit_plugin.py.

◆ srdf_files

create_ikfast_moveit_plugin.srdf_files = glob.glob(plan_pkg_dir+'/config/*.srdf')

Definition at line 100 of file create_ikfast_moveit_plugin.py.

◆ template_file_data

create_ikfast_moveit_plugin.template_file_data = open(template_file_name, 'r')

Definition at line 220 of file create_ikfast_moveit_plugin.py.

◆ template_file_name

string create_ikfast_moveit_plugin.template_file_name = plugin_gen_dir + '/templates/ikfast' + str(template_version) + '_moveit_plugin_template.cpp'

Definition at line 213 of file create_ikfast_moveit_plugin.py.

◆ template_header_file

string create_ikfast_moveit_plugin.template_header_file = plugin_gen_dir + '/templates/ikfast.h'

Definition at line 198 of file create_ikfast_moveit_plugin.py.

◆ template_text

create_ikfast_moveit_plugin.template_text = template_file_data.read()

Definition at line 221 of file create_ikfast_moveit_plugin.py.

◆ template_version

int create_ikfast_moveit_plugin.template_version = 61

Definition at line 192 of file create_ikfast_moveit_plugin.py.

◆ text

create_ikfast_moveit_plugin.text

Definition at line 242 of file create_ikfast_moveit_plugin.py.

◆ True

create_ikfast_moveit_plugin.True

Definition at line 248 of file create_ikfast_moveit_plugin.py.

◆ xml_declaration

create_ikfast_moveit_plugin.xml_declaration

Definition at line 248 of file create_ikfast_moveit_plugin.py.



moveit_kinematics
Author(s): Dave Coleman , Ioan Sucan , Sachin Chitta
autogenerated on Fri Sep 14 2018 02:59:41