baxter_core_msgs/SolvePositionIK Service

File: baxter_core_msgs/SolvePositionIK.srv

Raw Message Definition

# Endpoint Pose(s) to request Inverse-Kinematics joint solutions for.
geometry_msgs/PoseStamped[] pose_stamp

# (optional) Joint Angle Seed(s) for IK solver.
# * specify a JointState seed for each pose_stamp, using name[] and position[]
# * empty arrays or a non-default seed_mode will cause user seed to not be used
sensor_msgs/JointState[] seed_angles

# Seed Type Mode
# * default (SEED_AUTO) mode: iterate through seed types until first valid
#                             solution is found
# * setting any other mode:   try only that seed type
uint8 SEED_AUTO    = 0
uint8 SEED_USER    = 1
uint8 SEED_CURRENT = 2
uint8 SEED_NS_MAP  = 3

uint8 seed_mode
---
# joints[i]      == joint angle solution for each pose_state[i]
sensor_msgs/JointState[] joints

# NOTE: isValid will be deprecated by result_type in future versions
bool[] isValid

# result_type[i] == seed type used to find valid solution, joints[i];
# otherwise,     == RESULT_INVALID (no valid solution found).
uint8 RESULT_INVALID = 0
uint8[] result_type

Compact Message Definition

uint8 SEED_AUTO=0
uint8 SEED_USER=1
uint8 SEED_CURRENT=2
uint8 SEED_NS_MAP=3
geometry_msgs/PoseStamped[] pose_stamp
sensor_msgs/JointState[] seed_angles
uint8 seed_mode

uint8 RESULT_INVALID=0
sensor_msgs/JointState[] joints
bool[] isValid
uint8[] result_type