#include <constrained_ik_plugin.h>

Inheritance diagram for constrained_ik::ConstrainedIKPlugin:

Public Member Functions
	ConstrainedIKPlugin ()
const std::vector< std::string > &	getJointNames () const
	Return all the joint names in the order they are used internally.
const std::vector< std::string > &	getLinkNames () const
	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) const
virtual bool	getPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, std::vector< double > &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
virtual bool	initialize (const std::string &robot_description, const std::string &group_name, const std::string &base_name, const std::string &tip_name, double search_discretization)
	Initialization function for the kinematics.
bool	isActive ()
bool	isActive () const
virtual bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, std::vector< double > &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
virtual bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
virtual bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
virtual bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
Protected Attributes
bool	active_
int	dimension_
std::vector< std::string >	joint_names_
basic_kin::BasicKin	kin_
std::vector< std::string >	link_names_

Detailed Description

Definition at line 40 of file constrained_ik_plugin.h.

Constructor & Destructor Documentation

constrained_ik::ConstrainedIKPlugin::ConstrainedIKPlugin ( )

Definition at line 49 of file constrained_ik_plugin.cpp.

Member Function Documentation

const std::vector< std::string > & constrained_ik::ConstrainedIKPlugin::getJointNames ( ) const [virtual]

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

Implements kinematics::KinematicsBase.

Definition at line 292 of file constrained_ik_plugin.cpp.

const std::vector< std::string > & constrained_ik::ConstrainedIKPlugin::getLinkNames ( ) const [virtual]

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

Implements kinematics::KinematicsBase.

Definition at line 298 of file constrained_ik_plugin.cpp.

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

Implements kinematics::KinematicsBase.

Definition at line 254 of file constrained_ik_plugin.cpp.

bool constrained_ik::ConstrainedIKPlugin::getPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution,
		moveit_msgs::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const `[virtual]`

Implements kinematics::KinematicsBase.

Definition at line 102 of file constrained_ik_plugin.cpp.

bool constrained_ik::ConstrainedIKPlugin::initialize	(	const std::string &	robot_description,
		const std::string &	group_name,
		const std::string &	base_name,
		const std::string &	tip_name,
		double	search_discretization
	)		`[virtual]`

Initialization function for the kinematics.

Returns:: True if initialization was successful, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 69 of file constrained_ik_plugin.cpp.

bool constrained_ik::ConstrainedIKPlugin::isActive ( )

Definition at line 53 of file constrained_ik_plugin.cpp.

bool constrained_ik::ConstrainedIKPlugin::isActive ( ) const

Definition at line 61 of file constrained_ik_plugin.cpp.

bool constrained_ik::ConstrainedIKPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		double	timeout,
		std::vector< double > &	solution,
		moveit_msgs::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const `[virtual]`

Implements kinematics::KinematicsBase.

Definition at line 155 of file constrained_ik_plugin.cpp.

bool constrained_ik::ConstrainedIKPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		double	timeout,
		const std::vector< double > &	consistency_limits,
		std::vector< double > &	solution,
		moveit_msgs::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const `[virtual]`

Implements kinematics::KinematicsBase.

Definition at line 167 of file constrained_ik_plugin.cpp.

bool constrained_ik::ConstrainedIKPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		double	timeout,
		std::vector< double > &	solution,
		const IKCallbackFn &	solution_callback,
		moveit_msgs::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const `[virtual]`

Implements kinematics::KinematicsBase.

Definition at line 179 of file constrained_ik_plugin.cpp.

bool constrained_ik::ConstrainedIKPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		double	timeout,
		const std::vector< double > &	consistency_limits,
		std::vector< double > &	solution,
		const IKCallbackFn &	solution_callback,
		moveit_msgs::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const `[virtual]`