pr2_arm_kinematics::PR2ArmIKSolver Class Reference

#include <pr2_arm_ik_solver.h>

Inheritance diagram for pr2_arm_kinematics::PR2ArmIKSolver:

Public Member Functions
int	CartToJnt (const KDL::JntArray &q_init, const KDL::Frame &p_in, std::vector< KDL::JntArray > &q_out)
	An extension of the KDL solver interface to return all solutions found. NOTE: This method only returns a solution if it exists for the free parameter value passed in. To search for a solution in the entire workspace use the CartToJntSearch method detailed below.
int	CartToJnt (const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out)
	The KDL solver interface that is required to be implemented. NOTE: This method only returns a solution if it exists for the free parameter value passed in. To search for a solution in the entire workspace use the CartToJntSearch method detailed below.
int	CartToJntSearch (const KDL::JntArray &q_in, const KDL::Frame &p_in, KDL::JntArray &q_out, const double &timeout, arm_navigation_msgs::ArmNavigationErrorCodes &error_code, const boost::function< void(const KDL::JntArray &, const KDL::Frame &, arm_navigation_msgs::ArmNavigationErrorCodes &)> &desired_pose_callback, const boost::function< void(const KDL::JntArray &, const KDL::Frame &, arm_navigation_msgs::ArmNavigationErrorCodes &)> &solution_callback)
	This method searches for and returns the first solution it finds that also satisifies both user defined callbacks.
int	CartToJntSearch (const KDL::JntArray &q_in, const KDL::Frame &p_in, KDL::JntArray &q_out, const double &timeout)
	This method searches for and returns the closest solution to the initial guess in the first set of solutions it finds.
int	CartToJntSearch (const KDL::JntArray &q_in, const KDL::Frame &p_in, std::vector< KDL::JntArray > &q_out, const double &timeout)
	This method searches for and returns the first set of solutions it finds.
std::string	getFrameId ()
void	getSolverInfo (kinematics_msgs::KinematicSolverInfo &response)
	A method to get chain information about the serial chain that the IK operates on.
	PR2ArmIKSolver (const urdf::Model &robot_model, const std::string &root_frame_name, const std::string &tip_frame_name, const double &search_discretization_angle, const int &free_angle)
	~PR2ArmIKSolver ()
Public Attributes
bool	active_
	Indicates whether the solver has been successfully initialized.
PR2ArmIK	pr2_arm_ik_
	The PR2 inverse kinematics solver.
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 52 of file pr2_arm_ik_solver.h.

Constructor & Destructor Documentation

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

Definition at line 38 of file pr2_arm_ik_solver.cpp.

pr2_arm_kinematics::PR2ArmIKSolver::~PR2ArmIKSolver ( ) [inline]

Definition at line 71 of file pr2_arm_ik_solver.h.

Member Function Documentation

int PR2ArmIKSolver::CartToJnt	(	const KDL::JntArray &	q_init,
		const KDL::Frame &	p_in,
		std::vector< KDL::JntArray > &	q_out
	)

An extension of the KDL solver interface to return all solutions found. NOTE: This method only returns a solution if it exists for the free parameter value passed in. To search for a solution in the entire workspace use the CartToJntSearch method detailed below.

Returns:: < 0 if no solution is found

Parameters:

	q_init	The initial guess for the inverse kinematics solution. The solver uses the joint value q_init(pr2_ik_->free_angle_) as as an input to the inverse kinematics. pr2_ik_->free_angle_ can either be 0 or 2 corresponding to the shoulder pan or shoulder roll angle
	p_in	A KDL::Frame representation of the position of the end-effector for which the IK is being solved.
	q_out	A std::vector of KDL::JntArray containing all found solutions.

Definition at line 112 of file pr2_arm_ik_solver.cpp.

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

The KDL solver interface that is required to be implemented. NOTE: This method only returns a solution if it exists for the free parameter value passed in. To search for a solution in the entire workspace use the CartToJntSearch method detailed below.

Returns:: < 0 if no solution is found

Parameters:

	q_init	The initial guess for the inverse kinematics solution. The solver uses the joint value q_init(pr2_ik_->free_angle_) as as an input to the inverse kinematics. pr2_ik_->free_angle_ can either be 0 or 2 corresponding to the shoulder pan or shoulder roll angle
	p_in	A KDL::Frame representation of the position of the end-effector for which the IK is being solved.
	q_out	A single inverse kinematic solution (if it exists).

Definition at line 58 of file pr2_arm_ik_solver.cpp.

int PR2ArmIKSolver::CartToJntSearch	(	const KDL::JntArray &	q_in,
		const KDL::Frame &	p_in,
		KDL::JntArray &	q_out,
		const double &	timeout,
		arm_navigation_msgs::ArmNavigationErrorCodes &	error_code,
		const boost::function< void(const KDL::JntArray &, const KDL::Frame &, arm_navigation_msgs::ArmNavigationErrorCodes &)> &	desired_pose_callback,
		const boost::function< void(const KDL::JntArray &, const KDL::Frame &, arm_navigation_msgs::ArmNavigationErrorCodes &)> &	solution_callback
	)

This method searches for and returns the first solution it finds that also satisifies both user defined callbacks.

Returns:: < 0 if no solution is found

Parameters:

	q_init	The initial guess for the inverse kinematics solution. The solver uses the joint value q_init(pr2_ik_->free_angle_) as
	p_in	A KDL::Frame representation of the position of the end-effector for which the IK is being solved.
	q_out	A std::vector of KDL::JntArray containing all found solutions.
	desired_pose_callback	A callback function to which the desired pose is passed in
	solution_callback	A callback function to which IK solutions are passed in

Definition at line 261 of file pr2_arm_ik_solver.cpp.

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

This method searches for and returns the closest solution to the initial guess in the first set of solutions it finds.

Returns:: < 0 if no solution is found

Parameters:

	q_in	The initial guess for the inverse kinematics solution. The solver uses the joint value q_init(pr2_ik_->free_angle_) as as an input to the inverse kinematics. pr2_ik_->free_angle_ can either be 0 or 2 corresponding to the shoulder pan or shoulder roll angle
	p_in	A KDL::Frame representation of the position of the end-effector for which the IK is being solved.
	q_out	A std::vector of KDL::JntArray containing all found solutions.
	timeout	The amount of time (in seconds) to spend looking for a solution.

Definition at line 222 of file pr2_arm_ik_solver.cpp.

int PR2ArmIKSolver::CartToJntSearch	(	const KDL::JntArray &	q_in,
		const KDL::Frame &	p_in,
		std::vector< KDL::JntArray > &	q_out,
		const double &	timeout
	)

This method searches for and returns the first set of solutions it finds.

Returns:: < 0 if no solution is found

Parameters:

	q_in	The initial guess for the inverse kinematics solution. The solver uses the joint value q_init(pr2_ik_->free_angle_) as as an input to the inverse kinematics. pr2_ik_->free_angle_ can either be 0 or 2 corresponding to the shoulder pan or shoulder roll angle
	p_in	A KDL::Frame representation of the position of the end-effector for which the IK is being solved.
	q_out	A std::vector of KDL::JntArray containing all found solutions.
	timeout	The amount of time (in seconds) to spend looking for a solution.

Definition at line 183 of file pr2_arm_ik_solver.cpp.

bool PR2ArmIKSolver::getCount	(	int &	count,
		const int &	max_count,
		const int &	min_count
	)			`[private]`

Definition at line 145 of file pr2_arm_ik_solver.cpp.

std::string PR2ArmIKSolver::getFrameId ( )

Definition at line 331 of file pr2_arm_ik_solver.cpp.

void PR2ArmIKSolver::getSolverInfo ( kinematics_msgs::KinematicSolverInfo & response )

A method to get chain information about the serial chain that the IK operates on.

Parameters:

response

This class gets populated with information about the joints that IK operates on, including joint names and limits.

Definition at line 53 of file pr2_arm_ik_solver.cpp.

Member Data Documentation

bool pr2_arm_kinematics::PR2ArmIKSolver::active_

Indicates whether the solver has been successfully initialized.

Definition at line 81 of file pr2_arm_ik_solver.h.

int pr2_arm_kinematics::PR2ArmIKSolver::free_angle_ [private]

Definition at line 174 of file pr2_arm_ik_solver.h.

PR2ArmIK pr2_arm_kinematics::PR2ArmIKSolver::pr2_arm_ik_

The PR2 inverse kinematics solver.

Definition at line 71 of file pr2_arm_ik_solver.h.

std::string pr2_arm_kinematics::PR2ArmIKSolver::root_frame_name_ [private]

Definition at line 176 of file pr2_arm_ik_solver.h.

double pr2_arm_kinematics::PR2ArmIKSolver::search_discretization_angle_ [private]

Definition at line 172 of file pr2_arm_ik_solver.h.

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

pr2_arm_kinematics::PR2ArmIKSolver Class Reference

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation