MoveitStateAdapter adapts the MoveIt RobotState to the Descartes RobotModel interface. More...

#include <moveit_state_adapter.h>

Inheritance diagram for descartes_moveit::MoveitStateAdapter:

Public Member Functions
virtual bool	getAllIK (const Eigen::Affine3d &pose, std::vector< std::vector< double > > &joint_poses) const
virtual int	getDOF () const
virtual bool	getFK (const std::vector< double > &joint_pose, Eigen::Affine3d &pose) const
virtual bool	getIK (const Eigen::Affine3d &pose, const std::vector< double > &seed_state, std::vector< double > &joint_pose) const
const std::vector< std::vector < double > > &	getSeedStates () const
	Retrieves the initial seed states used by iterative inverse kinematic solvers.
moveit::core::RobotStatePtr	getState ()
	Returns the underlying moveit state object so it can be used to generate seeds.
virtual bool	initialize (const std::string &robot_description, const std::string &group_name, const std::string &world_frame, const std::string &tcp_frame)
virtual bool	isValid (const std::vector< double > &joint_pose) const
virtual bool	isValid (const Eigen::Affine3d &pose) const
virtual bool	isValidMove (const std::vector< double > &from_joint_pose, const std::vector< double > &to_joint_pose, double dt) const
	MoveitStateAdapter ()
	MoveitStateAdapter (const moveit::core::RobotState &robot_state, const std::string &group_name, const std::string &tool_frame, const std::string &world_frame)
void	setSeedStates (const std::vector< std::vector< double > > &seeds)
	Set the initial states used for iterative inverse kineamtics.
virtual	~MoveitStateAdapter ()
Protected Member Functions
bool	getIK (const Eigen::Affine3d &pose, std::vector< double > &joint_pose) const
bool	isInCollision (const std::vector< double > &joint_pose) const
	Pointer to moveit robot state (mutable object state is reset with each function call.
Protected Attributes
std::string	group_name_
	Planning group name.
planning_scene::PlanningScenePtr	planning_scene_
robot_model_loader::RobotModelLoaderPtr	robot_model_loader_
robot_model::RobotModelConstPtr	robot_model_ptr_
moveit::core::RobotStatePtr	robot_state_
std::vector< std::vector < double > >	seed_states_
	Vector of starting configurations for the numerical solver.
std::string	tool_frame_
	Tool frame name.
std::vector< double >	velocity_limits_
std::string	world_frame_
	Work object/reference frame name.
descartes_core::Frame	world_to_root_
	convenient transformation frame

Detailed Description

MoveitStateAdapter adapts the MoveIt RobotState to the Descartes RobotModel interface.

Definition at line 36 of file moveit_state_adapter.h.

Constructor & Destructor Documentation

descartes_moveit::MoveitStateAdapter::MoveitStateAdapter ( )

Definition at line 65 of file moveit_state_adapter.cpp.

descartes_moveit::MoveitStateAdapter::MoveitStateAdapter	(	const moveit::core::RobotState &	robot_state,
		const std::string &	group_name,
		const std::string &	tool_frame,
		const std::string &	world_frame
	)

Constructor for Moveit state adapters (implements Descartes robot model interface)

Parameters:

robot_state	robot state object utilized for kinematic/dynamic state checking
group_name	planning group name
tool_frame	tool frame name
world_frame	work object frame name

Definition at line 68 of file moveit_state_adapter.cpp.

virtual descartes_moveit::MoveitStateAdapter::~MoveitStateAdapter ( ) [inline, virtual]

Definition at line 53 of file moveit_state_adapter.h.

Member Function Documentation

bool descartes_moveit::MoveitStateAdapter::getAllIK	(	const Eigen::Affine3d &	pose,
		std::vector< std::vector< double > > &	joint_poses
	)		const `[virtual]`

Implements descartes_core::RobotModel.

Definition at line 210 of file moveit_state_adapter.cpp.

int descartes_moveit::MoveitStateAdapter::getDOF ( ) const [virtual]

Implements descartes_core::RobotModel.

Definition at line 361 of file moveit_state_adapter.cpp.

bool descartes_moveit::MoveitStateAdapter::getFK	(	const std::vector< double > &	joint_pose,
		Eigen::Affine3d &	pose
	)		const `[virtual]`

Implements descartes_core::RobotModel.

Definition at line 284 of file moveit_state_adapter.cpp.

bool descartes_moveit::MoveitStateAdapter::getIK	(	const Eigen::Affine3d &	pose,
		const std::vector< double > &	seed_state,
		std::vector< double > &	joint_pose
	)		const `[virtual]`

Implements descartes_core::RobotModel.

Definition at line 174 of file moveit_state_adapter.cpp.

bool descartes_moveit::MoveitStateAdapter::getIK	(	const Eigen::Affine3d &	pose,
		std::vector< double > &	joint_pose
	)		const `[protected]`

Gets IK solution (assumes robot state is pre-seeded)

Parameters:

pose	Affine pose of TOOL in WOBJ frame
joint_pose	Solution (if function successful).

Returns:

Definition at line 181 of file moveit_state_adapter.cpp.

const std::vector<std::vector<double> >& descartes_moveit::MoveitStateAdapter::getSeedStates ( ) const [inline]

Retrieves the initial seed states used by iterative inverse kinematic solvers.

Definition at line 86 of file moveit_state_adapter.h.

moveit::core::RobotStatePtr descartes_moveit::MoveitStateAdapter::getState ( ) [inline]

Returns the underlying moveit state object so it can be used to generate seeds.

Definition at line 94 of file moveit_state_adapter.h.

bool descartes_moveit::MoveitStateAdapter::initialize	(	const std::string &	robot_description,
		const std::string &	group_name,
		const std::string &	world_frame,
		const std::string &	tcp_frame
	)		`[virtual]`

Implements descartes_core::RobotModel.

Definition at line 118 of file moveit_state_adapter.cpp.

bool descartes_moveit::MoveitStateAdapter::isInCollision ( const std::vector< double > & joint_pose ) const [protected]

Pointer to moveit robot state (mutable object state is reset with each function call.

TODO: Checks for collisions at this joint pose. The setCollisionCheck(true) must have been called previously in order to enable collision checks, otherwise it will return false.

Parameters:

joint_pose the joint values at which check for collisions will be made

Definition at line 273 of file moveit_state_adapter.cpp.

bool descartes_moveit::MoveitStateAdapter::isValid ( const std::vector< double > & joint_pose ) const [virtual]

Implements descartes_core::RobotModel.

Definition at line 314 of file moveit_state_adapter.cpp.

bool descartes_moveit::MoveitStateAdapter::isValid ( const Eigen::Affine3d & pose ) const [virtual]

Implements descartes_core::RobotModel.

Definition at line 354 of file moveit_state_adapter.cpp.

bool descartes_moveit::MoveitStateAdapter::isValidMove	(	const std::vector< double > &	from_joint_pose,
		const std::vector< double > &	to_joint_pose,
		double	dt
	)		const `[virtual]`