#include <pr2_arm_kinematics_plugin.h>

Inheritance diagram for pr2_arm_kinematics::PR2ArmIKSolver:

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
	)