#include <pr2_arm_kinematics_constraint_aware.h>

Inheritance diagram for pr2_arm_kinematics::PR2ArmIKConstraintAware:

Public Member Functions
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)
	This method searches for and returns the closest solution to the initial guess in the first set of solutions it finds.
bool	getConstraintAwarePositionIK (kinematics_msgs::GetConstraintAwarePositionIK::Request &request, kinematics_msgs::GetConstraintAwarePositionIK::Response &response)
	This method searches for and returns the closest solution to the initial guess in the first set of solutions it finds.
virtual bool	getPositionIK (kinematics_msgs::GetPositionIK::Request &request, kinematics_msgs::GetPositionIK::Response &response)
	PR2ArmIKConstraintAware ()
virtual	~PR2ArmIKConstraintAware ()
Protected Member Functions
virtual bool	transformPose (const std::string &des_frame, const geometry_msgs::PoseStamped &pose_in, geometry_msgs::PoseStamped &pose_out)
Private Member Functions
void	advertiseIK ()
void	collisionCheck (const KDL::JntArray &jnt_array, const KDL::Frame &p_in, arm_navigation_msgs::ArmNavigationErrorCodes &error_code)
void	contactFound (collision_space::EnvironmentModel::Contact &contact)
void	initialPoseCheck (const KDL::JntArray &jnt_array, const KDL::Frame &p_in, arm_navigation_msgs::ArmNavigationErrorCodes &error_code)
bool	isReady (arm_navigation_msgs::ArmNavigationErrorCodes &error_code)
void	printStringVec (const std::string &prefix, const std::vector< std::string > &string_vector)
void	sendEndEffectorPose (const planning_models::KinematicState *state, bool valid)
Private Attributes
std::vector< std::string >	arm_links_
planning_environment::CollisionModelsInterface *	collision_models_interface_
arm_navigation_msgs::Constraints	constraints_
ros::Publisher	display_trajectory_publisher_
std::vector< std::string >	end_effector_collision_links_
std::string	group_
ros::ServiceServer	ik_collision_service_
kinematics_msgs::PositionIKRequest	ik_request_
ros::Time	last_planning_scene_drop_
bool	use_collision_map_
ros::Publisher	vis_marker_array_publisher_
ros::Publisher	vis_marker_publisher_
bool	visualize_solution_

Detailed Description

Definition at line 60 of file pr2_arm_kinematics_constraint_aware.h.

Constructor & Destructor Documentation

pr2_arm_kinematics::PR2ArmIKConstraintAware::PR2ArmIKConstraintAware ( )

Definition at line 59 of file pr2_arm_kinematics_constraint_aware.cpp.

virtual pr2_arm_kinematics::PR2ArmIKConstraintAware::~PR2ArmIKConstraintAware ( ) [inline, virtual]

Definition at line 76 of file pr2_arm_kinematics_constraint_aware.h.

Member Function Documentation

void pr2_arm_kinematics::PR2ArmIKConstraintAware::advertiseIK ( ) [private]

Definition at line 92 of file pr2_arm_kinematics_constraint_aware.cpp.

int pr2_arm_kinematics::PR2ArmIKConstraintAware::CartToJntSearch	(	const KDL::JntArray &	q_in,
		const KDL::Frame &	p_in,
		KDL::JntArray &	q_out,
		const double &	timeout,
		arm_navigation_msgs::ArmNavigationErrorCodes &	error_code
	)

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 130 of file pr2_arm_kinematics_constraint_aware.cpp.

void pr2_arm_kinematics::PR2ArmIKConstraintAware::collisionCheck	(	const KDL::JntArray &	jnt_array,
		const KDL::Frame &	p_in,
		arm_navigation_msgs::ArmNavigationErrorCodes &	error_code
	)		`[private]`

Definition at line 309 of file pr2_arm_kinematics_constraint_aware.cpp.

void pr2_arm_kinematics::PR2ArmIKConstraintAware::contactFound ( collision_space::EnvironmentModel::Contact & contact ) [private]

bool pr2_arm_kinematics::PR2ArmIKConstraintAware::getConstraintAwarePositionIK	(	kinematics_msgs::GetConstraintAwarePositionIK::Request &	request,
		kinematics_msgs::GetConstraintAwarePositionIK::Response &	response
	)

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 175 of file pr2_arm_kinematics_constraint_aware.cpp.

bool pr2_arm_kinematics::PR2ArmIKConstraintAware::getPositionIK	(	kinematics_msgs::GetPositionIK::Request &	request,
		kinematics_msgs::GetPositionIK::Response &	response
	)		`[virtual]`

Reimplemented from pr2_arm_kinematics::PR2ArmKinematics.

Definition at line 149 of file pr2_arm_kinematics_constraint_aware.cpp.

void pr2_arm_kinematics::PR2ArmIKConstraintAware::initialPoseCheck	(	const KDL::JntArray &	jnt_array,
		const KDL::Frame &	p_in,
		arm_navigation_msgs::ArmNavigationErrorCodes &	error_code
	)		`[private]`

Definition at line 348 of file pr2_arm_kinematics_constraint_aware.cpp.

bool pr2_arm_kinematics::PR2ArmIKConstraintAware::isReady ( arm_navigation_msgs::ArmNavigationErrorCodes & error_code ) [private]

Definition at line 98 of file pr2_arm_kinematics_constraint_aware.cpp.

void pr2_arm_kinematics::PR2ArmIKConstraintAware::printStringVec	(	const std::string &	prefix,
		const std::vector< std::string > &	string_vector
	)		`[private]`

Definition at line 425 of file pr2_arm_kinematics_constraint_aware.cpp.

void pr2_arm_kinematics::PR2ArmIKConstraintAware::sendEndEffectorPose	(	const planning_models::KinematicState *	state,
		bool	valid
	)		`[private]`

Definition at line 404 of file pr2_arm_kinematics_constraint_aware.cpp.

bool pr2_arm_kinematics::PR2ArmIKConstraintAware::transformPose	(	const std::string &	des_frame,
		const geometry_msgs::PoseStamped &	pose_in,
		geometry_msgs::PoseStamped &	pose_out
	)		`[protected, virtual]`