arm_kinematics_constraint_aware::KDLArmKinematicsPlugin Class Reference

#include <kdl_arm_kinematics_plugin.h>

Inheritance diagram for arm_kinematics_constraint_aware::KDLArmKinematicsPlugin:

Public Member Functions
std::string	getBaseFrame ()
	Return the frame in which the kinematics is operating.
std::vector< std::string >	getJointNames ()
	Return all the joint names in the order they are used internally.
std::vector< std::string >	getLinkNames ()
	Return all the link names in the order they are represented internally.
bool	getPositionFK (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::Pose > &poses)
	Given a set of joint angles and a set of links, compute their pose.
bool	getPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, std::vector< double > &solution, int &error_code)
	Given a desired pose of the end-effector, compute the joint angles to reach it.
std::string	getToolFrame ()
	Return the links for which kinematics can be computed.
bool	initialize (std::string name)
	Initialization function for the kinematics.
bool	isActive ()
	Specifies if the node is active or not.
	KDLArmKinematicsPlugin ()
bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, const double &timeout, std::vector< double > &solution, const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &desired_pose_callback, const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &solution_callback, int &error_code)
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).
bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, const double &timeout, std::vector< double > &solution, int &error_code)
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).
Protected Member Functions
double	genRandomNumber (const double &min, const double &max)
int	getJointIndex (const std::string &name)
int	getKDLSegmentIndex (const std::string &name)
KDL::JntArray	getRandomConfiguration ()
bool	loadModel (const std::string xml)
bool	readJoints (urdf::Model &robot_model)
Protected Attributes
bool	active_
kinematics_msgs::KinematicSolverInfo	chain_info_
unsigned int	dimension_
boost::shared_ptr < KDL::ChainFkSolverPos_recursive >	fk_solver_
boost::shared_ptr < KDL::ChainIkSolverPos_NR_JL >	ik_solver_pos_
boost::shared_ptr < KDL::ChainIkSolverVel_pinv >	ik_solver_vel_
KDL::JntArray	joint_max_
KDL::JntArray	joint_min_
KDL::Chain	kdl_chain_
int	max_search_iterations_
std::string	root_name_
std::string	tip_name_

Detailed Description

Definition at line 75 of file kdl_arm_kinematics_plugin.h.

Constructor & Destructor Documentation

arm_kinematics_constraint_aware::KDLArmKinematicsPlugin::KDLArmKinematicsPlugin ( )

Definition at line 49 of file kdl_arm_kinematics_plugin.cpp.

Member Function Documentation

double arm_kinematics_constraint_aware::KDLArmKinematicsPlugin::genRandomNumber	(	const double &	min,
		const double &	max
	)			`[protected]`

Definition at line 61 of file kdl_arm_kinematics_plugin.cpp.

std::string arm_kinematics_constraint_aware::KDLArmKinematicsPlugin::getBaseFrame ( ) [virtual]

Return the frame in which the kinematics is operating.

Returns:: the string name of the frame in which the kinematics is operating

Implements kinematics::KinematicsBase.

Definition at line 449 of file kdl_arm_kinematics_plugin.cpp.

int arm_kinematics_constraint_aware::KDLArmKinematicsPlugin::getJointIndex ( const std::string & name ) [protected]

Definition at line 212 of file kdl_arm_kinematics_plugin.cpp.

std::vector< std::string > arm_kinematics_constraint_aware::KDLArmKinematicsPlugin::getJointNames ( ) [virtual]

Return all the joint names in the order they are used internally.

Implements kinematics::KinematicsBase.

Definition at line 469 of file kdl_arm_kinematics_plugin.cpp.

int arm_kinematics_constraint_aware::KDLArmKinematicsPlugin::getKDLSegmentIndex ( const std::string & name ) [protected]

Definition at line 221 of file kdl_arm_kinematics_plugin.cpp.

std::vector< std::string > arm_kinematics_constraint_aware::KDLArmKinematicsPlugin::getLinkNames ( ) [virtual]

Return all the link names in the order they are represented internally.

Implements kinematics::KinematicsBase.

Definition at line 480 of file kdl_arm_kinematics_plugin.cpp.

bool arm_kinematics_constraint_aware::KDLArmKinematicsPlugin::getPositionFK	(	const std::vector< std::string > &	link_names,
		const std::vector< double > &	joint_angles,
		std::vector< geometry_msgs::Pose > &	poses
	)			`[virtual]`

Given a set of joint angles and a set of links, compute their pose.

Parameters:

	request	- the request contains the joint angles, set of links for which poses are to be computed and a timeout
	response	- the response contains stamped pose information for all the requested links

Returns:: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

bool arm_kinematics_constraint_aware::KDLArmKinematicsPlugin::getPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution,
		int &	error_code
	)			`[virtual]`

Given a desired pose of the end-effector, compute the joint angles to reach it.

Parameters:

	ik_link_name	- the name of the link for which IK is being computed
	ik_pose	the desired pose of the link
	ik_seed_state	an initial guess solution for the inverse kinematics

Returns:: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 233 of file kdl_arm_kinematics_plugin.cpp.

KDL::JntArray arm_kinematics_constraint_aware::KDLArmKinematicsPlugin::getRandomConfiguration ( ) [protected]

Definition at line 68 of file kdl_arm_kinematics_plugin.cpp.

std::string arm_kinematics_constraint_aware::KDLArmKinematicsPlugin::getToolFrame ( ) [virtual]

Return the links for which kinematics can be computed.

Implements kinematics::KinematicsBase.

Definition at line 459 of file kdl_arm_kinematics_plugin.cpp.

bool arm_kinematics_constraint_aware::KDLArmKinematicsPlugin::initialize ( std::string name ) [virtual]

Initialization function for the kinematics.

Returns:: True if initialization was successful, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 77 of file kdl_arm_kinematics_plugin.cpp.

bool arm_kinematics_constraint_aware::KDLArmKinematicsPlugin::isActive ( )

Specifies if the node is active or not.

Returns:: True if the node is active, false otherwise.

Definition at line 54 of file kdl_arm_kinematics_plugin.cpp.

bool arm_kinematics_constraint_aware::KDLArmKinematicsPlugin::loadModel ( const std::string xml ) [protected]

Definition at line 124 of file kdl_arm_kinematics_plugin.cpp.

bool arm_kinematics_constraint_aware::KDLArmKinematicsPlugin::readJoints ( urdf::Model & robot_model ) [protected]

Definition at line 148 of file kdl_arm_kinematics_plugin.cpp.

bool arm_kinematics_constraint_aware::KDLArmKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		const double &	timeout,
		std::vector< double > &	solution,
		const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &	desired_pose_callback,
		const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &	solution_callback,
		int &	error_code
	)			`[virtual]`

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters:

	ik_pose	the desired pose of the link
	ik_seed_state	an initial guess solution for the inverse kinematics

Returns:: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

bool arm_kinematics_constraint_aware::KDLArmKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		const double &	timeout,
		std::vector< double > &	solution,
		int &	error_code
	)			`[virtual]`

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters: