#include <pr2_arm_kinematics_plugin.h>

Inheritance diagram for pr2_arm_kinematics::PR2ArmKinematicsPlugin:

Public Member Functions
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
	Given a set of joint angles and a set of links, compute their pose.
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
	Given a desired pose of the end-effector, compute the joint angles to reach it.
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 ()
	Specifies if the node is active or not.
	PR2ArmKinematicsPlugin ()
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
	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).
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
	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).
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
	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).
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
	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.
void	setRobotModel (boost::shared_ptr< urdf::ModelInterface > &robot_model)
Protected Member Functions
void	desiredPoseCallback (const KDL::JntArray &jnt_array, const KDL::Frame &ik_pose, moveit_msgs::MoveItErrorCodes &error_code) const
void	jointSolutionCallback (const KDL::JntArray &jnt_array, const KDL::Frame &ik_pose, moveit_msgs::MoveItErrorCodes &error_code) const
Protected Attributes
bool	active_
IKCallbackFn	desiredPoseCallback_
int	dimension_
moveit_msgs::KinematicSolverInfo	fk_solver_info_
int	free_angle_
moveit_msgs::KinematicSolverInfo	ik_solver_info_
boost::shared_ptr < KDL::ChainFkSolverPos_recursive >	jnt_to_pose_solver_
KDL::Chain	kdl_chain_
boost::shared_ptr < pr2_arm_kinematics::PR2ArmIKSolver >	pr2_arm_ik_solver_
boost::shared_ptr < urdf::ModelInterface >	robot_model_
std::string	root_name_
IKCallbackFn	solutionCallback_

Detailed Description

Definition at line 130 of file pr2_arm_kinematics_plugin.h.

Constructor & Destructor Documentation

pr2_arm_kinematics::PR2ArmKinematicsPlugin::PR2ArmKinematicsPlugin ( )

Definition at line 248 of file pr2_arm_kinematics_plugin.cpp.

Member Function Documentation

void pr2_arm_kinematics::PR2ArmKinematicsPlugin::desiredPoseCallback	(	const KDL::JntArray &	jnt_array,
		const KDL::Frame &	ik_pose,
		moveit_msgs::MoveItErrorCodes &	error_code
	)		const `[protected]`

const std::vector< std::string > & pr2_arm_kinematics::PR2ArmKinematicsPlugin::getJointNames ( ) const [virtual]

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

Implements kinematics::KinematicsBase.

Definition at line 417 of file pr2_arm_kinematics_plugin.cpp.

const std::vector< std::string > & pr2_arm_kinematics::PR2ArmKinematicsPlugin::getLinkNames ( ) const [virtual]

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

Implements kinematics::KinematicsBase.

Definition at line 426 of file pr2_arm_kinematics_plugin.cpp.

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::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.

Parameters:

request	- the request contains the joint angles, set of links for which poses are to be computed and a timeout
response	- the response contains stamped pose information for all the requested links

Returns:: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 410 of file pr2_arm_kinematics_plugin.cpp.

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::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_link_name	- the name of the link for which IK is being computed
ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics

Returns:: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 312 of file pr2_arm_kinematics_plugin.cpp.

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::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 262 of file pr2_arm_kinematics_plugin.cpp.

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::isActive ( )

Specifies if the node is active or not.

Returns:: True if the node is active, false otherwise.

Definition at line 250 of file pr2_arm_kinematics_plugin.cpp.

void pr2_arm_kinematics::PR2ArmKinematicsPlugin::jointSolutionCallback	(	const KDL::JntArray &	jnt_array,
		const KDL::Frame &	ik_pose,
		moveit_msgs::MoveItErrorCodes &	error_code
	)		const `[protected]`

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::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_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics

Returns:: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 321 of file pr2_arm_kinematics_plugin.cpp.

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::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_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics
consistency_limit	the 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 376 of file pr2_arm_kinematics_plugin.cpp.

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::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_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics

Returns:: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 387 of file pr2_arm_kinematics_plugin.cpp.

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::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_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics
consistency_limit	the distance that the redundancy can be from the current position