Public Member Functions | Private Member Functions | Private Attributes
katana_450_6m90a_kinematics::IKFastKinematicsPlugin Class Reference
Inheritance diagram for katana_450_6m90a_kinematics::IKFastKinematicsPlugin:
Inheritance graph
[legend]

List of all members.

Public Member Functions

bool getPositionFK (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::Pose > &poses) const
 Given a set of joint angles and a set of links, compute their pose.
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
 Given a desired pose of the end-effector, compute the joint angles to reach it.
 IKFastKinematicsPlugin ()
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
 Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).
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
 Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).
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
 Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).
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
 Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines). The consistency_limit specifies that only certain redundancy positions around those specified in the seed state are admissible and need to be searched.

Private Member Functions

void fillFreeParams (int count, int *array)
void getClosestSolution (const IkSolutionList< IkReal > &solutions, const std::vector< double > &ik_seed_state, std::vector< double > &solution) const
bool getCount (int &count, const int &max_count, const int &min_count) const
const std::vector< std::string > & getJointNames () const
const std::vector< std::string > & getLinkNames () const
void getSolution (const IkSolutionList< IkReal > &solutions, int i, std::vector< double > &solution) const
 Gets a specific solution from the set.
double harmonize (const std::vector< double > &ik_seed_state, std::vector< double > &solution) const
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)
int solve (KDL::Frame &pose_frame, const std::vector< double > &vfree, IkSolutionList< IkReal > &solutions) const
 Calls the IK solver from IKFast.

Private Attributes

bool active_
std::vector< int > free_params_
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 114 of file katana_450_6m90a_ikfast_plugin.cpp.


Constructor & Destructor Documentation

Definition at line 133 of file katana_450_6m90a_ikfast_plugin.cpp.


Member Function Documentation

void katana_450_6m90a_kinematics::IKFastKinematicsPlugin::fillFreeParams ( int  count,
int *  array 
) [private]

Definition at line 535 of file katana_450_6m90a_ikfast_plugin.cpp.

void katana_450_6m90a_kinematics::IKFastKinematicsPlugin::getClosestSolution ( const IkSolutionList< IkReal > &  solutions,
const std::vector< double > &  ik_seed_state,
std::vector< double > &  solution 
) const [private]

Definition at line 511 of file katana_450_6m90a_ikfast_plugin.cpp.

bool katana_450_6m90a_kinematics::IKFastKinematicsPlugin::getCount ( int &  count,
const int &  max_count,
const int &  min_count 
) const [private]

Definition at line 541 of file katana_450_6m90a_ikfast_plugin.cpp.

const std::vector<std::string>& katana_450_6m90a_kinematics::IKFastKinematicsPlugin::getJointNames ( ) const [inline, private, virtual]

Implements kinematics::KinematicsBase.

Definition at line 125 of file katana_450_6m90a_ikfast_plugin.cpp.

const std::vector<std::string>& katana_450_6m90a_kinematics::IKFastKinematicsPlugin::getLinkNames ( ) const [inline, private, virtual]

Implements kinematics::KinematicsBase.

Definition at line 126 of file katana_450_6m90a_ikfast_plugin.cpp.

bool katana_450_6m90a_kinematics::IKFastKinematicsPlugin::getPositionFK ( const std::vector< std::string > &  link_names,
const std::vector< double > &  joint_angles,
std::vector< geometry_msgs::Pose > &  poses 
) const [virtual]

Given a set of joint angles and a set of links, compute their pose.

This FK routine is never used, since there is currently no way to configure MoveIt to use it. ROS TF is used to calculate the forward kinematics instead.

Parameters:
link_namesA set of links for which FK needs to be computed
joint_anglesThe state for which FK is being computed
posesThe resultant set of poses (in the frame returned by getBaseFrame())
Returns:
True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 577 of file katana_450_6m90a_ikfast_plugin.cpp.

bool katana_450_6m90a_kinematics::IKFastKinematicsPlugin::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]

Given a desired pose of the end-effector, compute the joint angles to reach it.

Parameters:
ik_posethe desired pose of the link
ik_seed_statean initial guess solution for the inverse kinematics
solutionthe solution vector
error_codean error code that encodes the reason for failure or success
Returns:
True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 853 of file katana_450_6m90a_ikfast_plugin.cpp.

void katana_450_6m90a_kinematics::IKFastKinematicsPlugin::getSolution ( const IkSolutionList< IkReal > &  solutions,
int  i,
std::vector< double > &  solution 
) const [private]

Gets a specific solution from the set.

Definition at line 447 of file katana_450_6m90a_ikfast_plugin.cpp.

double katana_450_6m90a_kinematics::IKFastKinematicsPlugin::harmonize ( const std::vector< double > &  ik_seed_state,
std::vector< double > &  solution 
) const [private]

Definition at line 465 of file katana_450_6m90a_ikfast_plugin.cpp.

bool katana_450_6m90a_kinematics::IKFastKinematicsPlugin::initialize ( const std::string &  robot_description,
const std::string &  group_name,
const std::string &  base_name,
const std::string &  tip_name,
double  search_discretization 
) [private, virtual]

Implements kinematics::KinematicsBase.

Definition at line 260 of file katana_450_6m90a_ikfast_plugin.cpp.

bool katana_450_6m90a_kinematics::IKFastKinematicsPlugin::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]

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters:
ik_posethe desired pose of the link
ik_seed_statean initial guess solution for the inverse kinematics
Returns:
True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 622 of file katana_450_6m90a_ikfast_plugin.cpp.

bool katana_450_6m90a_kinematics::IKFastKinematicsPlugin::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]

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters:
ik_posethe desired pose of the link
ik_seed_statean initial guess solution for the inverse kinematics
thedistance that the redundancy can be from the current position
Returns:
True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 642 of file katana_450_6m90a_ikfast_plugin.cpp.

bool katana_450_6m90a_kinematics::IKFastKinematicsPlugin::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]

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters:
ik_posethe desired pose of the link
ik_seed_statean initial guess solution for the inverse kinematics
Returns:
True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 661 of file katana_450_6m90a_ikfast_plugin.cpp.

bool katana_450_6m90a_kinematics::IKFastKinematicsPlugin::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]

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines). The consistency_limit specifies that only certain redundancy positions around those specified in the seed state are admissible and need to be searched.

Parameters:
ik_posethe desired pose of the link
ik_seed_statean initial guess solution for the inverse kinematics
consistency_limitthe distance that the redundancy can be from the current position
Returns:
True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 680 of file katana_450_6m90a_ikfast_plugin.cpp.

int katana_450_6m90a_kinematics::IKFastKinematicsPlugin::solve ( KDL::Frame pose_frame,
const std::vector< double > &  vfree,
IkSolutionList< IkReal > &  solutions 
) const [private]

Calls the IK solver from IKFast.

Returns:
The number of solutions found

Definition at line 374 of file katana_450_6m90a_ikfast_plugin.cpp.


Member Data Documentation

Definition at line 123 of file katana_450_6m90a_ikfast_plugin.cpp.

Definition at line 122 of file katana_450_6m90a_ikfast_plugin.cpp.

Definition at line 119 of file katana_450_6m90a_ikfast_plugin.cpp.

Definition at line 118 of file katana_450_6m90a_ikfast_plugin.cpp.

Definition at line 117 of file katana_450_6m90a_ikfast_plugin.cpp.

Definition at line 116 of file katana_450_6m90a_ikfast_plugin.cpp.

Definition at line 120 of file katana_450_6m90a_ikfast_plugin.cpp.

Definition at line 121 of file katana_450_6m90a_ikfast_plugin.cpp.


The documentation for this class was generated from the following file:


katana_moveit_ikfast_plugin
Author(s): Martin G√ľnther
autogenerated on Thu Aug 27 2015 13:40:30