Provides an interface for kinematics solvers. More...
#include <kinematics_base.h>
Public Member Functions | |
| virtual std::string | getBaseFrame ()=0 |
| Return the frame in which the kinematics is operating. | |
| virtual std::vector< std::string > | getJointNames ()=0 |
| Return all the joint names in the order they are used internally. | |
| virtual std::vector< std::string > | getLinkNames ()=0 |
| Return all the link names in the order they are represented internally. | |
| virtual bool | getPositionFK (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::Pose > &poses)=0 |
| Given a set of joint angles and a set of links, compute their pose. | |
| virtual bool | getPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, std::vector< double > &solution, int &error_code)=0 |
| Given a desired pose of the end-effector, compute the joint angles to reach it. | |
| virtual std::string | getToolFrame ()=0 |
| Return the links for which kinematics can be computed. | |
| virtual bool | initialize (std::string name)=0 |
| Initialization function for the kinematics. | |
| virtual 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)=0 |
| 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). | |
| virtual 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)=0 |
| 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). | |
| virtual | ~KinematicsBase () |
| Virtual destructor for the interface. | |
Protected Member Functions | |
| KinematicsBase () | |
Provides an interface for kinematics solvers.
Definition at line 63 of file kinematics_base.h.
| virtual kinematics::KinematicsBase::~KinematicsBase | ( | ) | [inline, virtual] |
Virtual destructor for the interface.
Definition at line 147 of file kinematics_base.h.
| kinematics::KinematicsBase::KinematicsBase | ( | ) | [inline, protected] |
Definition at line 150 of file kinematics_base.h.
| virtual std::string kinematics::KinematicsBase::getBaseFrame | ( | ) | [pure virtual] |
Return the frame in which the kinematics is operating.
| virtual std::vector<std::string> kinematics::KinematicsBase::getJointNames | ( | ) | [pure virtual] |
Return all the joint names in the order they are used internally.
| virtual std::vector<std::string> kinematics::KinematicsBase::getLinkNames | ( | ) | [pure virtual] |
Return all the link names in the order they are represented internally.
| virtual bool kinematics::KinematicsBase::getPositionFK | ( | const std::vector< std::string > & | link_names, |
| const std::vector< double > & | joint_angles, | ||
| std::vector< geometry_msgs::Pose > & | poses | ||
| ) | [pure virtual] |
Given a set of joint angles and a set of links, compute their pose.
| 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 |
| virtual bool kinematics::KinematicsBase::getPositionIK | ( | const geometry_msgs::Pose & | ik_pose, |
| const std::vector< double > & | ik_seed_state, | ||
| std::vector< double > & | solution, | ||
| int & | error_code | ||
| ) | [pure virtual] |
Given a desired pose of the end-effector, compute the joint angles to reach it.
| 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 |
| virtual std::string kinematics::KinematicsBase::getToolFrame | ( | ) | [pure virtual] |
Return the links for which kinematics can be computed.
| virtual bool kinematics::KinematicsBase::initialize | ( | std::string | name | ) | [pure virtual] |
Initialization function for the kinematics.
| virtual bool kinematics::KinematicsBase::searchPositionIK | ( | const geometry_msgs::Pose & | ik_pose, |
| const std::vector< double > & | ik_seed_state, | ||
| const double & | timeout, | ||
| std::vector< double > & | solution, | ||
| int & | error_code | ||
| ) | [pure 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).
| ik_pose | the desired pose of the link |
| ik_seed_state | an initial guess solution for the inverse kinematics |
| virtual bool kinematics::KinematicsBase::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 | ||
| ) | [pure 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).
| ik_pose | the desired pose of the link |
| ik_seed_state | an initial guess solution for the inverse kinematics |