Inheritance diagram for ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin:

Public Member Functions
void	fillFreeParams (int count, int *array)
bool	getCount (int &count, const int &max_count, const int &min_count)
const std::vector< std::string > &	getJointNames () const
const std::vector< std::string > &	getLinkNames () const
bool	getPositionFK (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::Pose > &poses)
bool	getPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, std::vector< double > &solution, int &error_code)
	IKFastKinematicsPlugin ()
bool	initialize (const std::string &group_name, const std::string &base_name, const std::string &tip_name, const double &search_discretization)
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)
bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, const double &timeout, const unsigned int &redundancy, const double &consistency_limit, std::vector< double > &solution, int &error_code)
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)
bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, const double &timeout, const unsigned int &redundancy, const double &consistency_limit, 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)
	~IKFastKinematicsPlugin ()
Private Attributes
void(*	fk )(const IKReal j, IKReal eetrans, IKReal *eerot)
std::vector< int >	free_params_
arm_kinematics_constraint_aware::ik_solver_base *	ik_solver_
std::vector< bool >	joint_has_limits_vector_
std::vector< double >	joint_max_vector_
std::vector< double >	joint_min_vector_
std::vector< std::string >	joint_names_
std::vector< std::string >	link_names_
size_t	num_joints_

Detailed Description

Definition at line 12 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

Constructor & Destructor Documentation

ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::IKFastKinematicsPlugin ( ) [inline]

Definition at line 26 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::~IKFastKinematicsPlugin ( ) [inline]

Definition at line 27 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

Member Function Documentation

void ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::fillFreeParams	(	int	count,
		int *	array
	)		`[inline]`

Definition at line 29 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

bool ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::getCount	(	int &	count,
		const int &	max_count,
		const int &	min_count
	)		`[inline]`

Definition at line 126 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

const std::vector<std::string>& ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::getJointNames ( ) const [inline, virtual]

Implements kinematics::KinematicsBase.

Definition at line 634 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

const std::vector<std::string>& ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::getLinkNames ( ) const [inline, virtual]

Implements kinematics::KinematicsBase.

Definition at line 635 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

bool ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::getPositionFK	(	const std::vector< std::string > &	link_names,
		const std::vector< double > &	joint_angles,
		std::vector< geometry_msgs::Pose > &	poses
	)		`[inline, virtual]`

Implements kinematics::KinematicsBase.

Definition at line 605 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

bool ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::getPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution,
		int &	error_code
	)		`[inline, virtual]`

Implements kinematics::KinematicsBase.

Definition at line 164 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

bool ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::initialize	(	const std::string &	group_name,
		const std::string &	base_name,
		const std::string &	tip_name,
		const double &	search_discretization
	)		`[inline, virtual]`

Implements kinematics::KinematicsBase.

Definition at line 31 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

bool ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		const double &	timeout,
		std::vector< double > &	solution,
		int &	error_code
	)		`[inline, virtual]`

Implements kinematics::KinematicsBase.

Definition at line 205 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

bool ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		const double &	timeout,
		const unsigned int &	redundancy,
		const double &	consistency_limit,
		std::vector< double > &	solution,
		int &	error_code
	)		`[inline, virtual]`

Implements kinematics::KinematicsBase.

Definition at line 292 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

bool ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::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
	)		`[inline, virtual]`

Implements kinematics::KinematicsBase.

Definition at line 389 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

bool ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		const double &	timeout,
		const unsigned int &	redundancy,
		const double &	consistency_limit,
		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
	)		`[inline, virtual]`