Public Member Functions
KinematicOptions	getOptions (const std::string &key) const
	KinematicOptionsMap ()
	Constructor - set all options to reasonable default values.
void	merge (const KinematicOptionsMap &other)
void	setOptions (const std::string &key, const KinematicOptions &options, KinematicOptions::OptionBitmask fields=KinematicOptions::ALL)
bool	setStateFromIK (robot_state::RobotState &state, const std::string &key, const std::string &group, const std::string &tip, const geometry_msgs::Pose &pose) const
Static Public Attributes
static const std::string	ALL = ""
	When used as key this means set ALL keys (including default)
static const std::string	DEFAULT = ""
	When used as key this means the default value.
Private Types
typedef std::map< std::string, KinematicOptions >	M_options
Private Attributes
KinematicOptions	defaults_
boost::mutex	lock_
M_options	options_

Detailed Description

Definition at line 49 of file kinematic_options_map.h.

Member Typedef Documentation

Definition at line 105 of file kinematic_options_map.h.

robot_interaction::KinematicOptionsMap::KinematicOptionsMap ( )

Constructor - set all options to reasonable default values.

Definition at line 45 of file kinematic_options_map.cpp.

robot_interaction::KinematicOptions robot_interaction::KinematicOptionsMap::getOptions ( const std::string & key ) const

Get the options to use for a particular key. To get the default values pass key = KinematicOptionsMap::DEFAULT

Definition at line 51 of file kinematic_options_map.cpp.

void robot_interaction::KinematicOptionsMap::merge ( const KinematicOptionsMap & other )

Merge all options from other into this. Values in other (including defaults_) take precedence over values in this.

Definition at line 116 of file kinematic_options_map.cpp.

void robot_interaction::KinematicOptionsMap::setOptions	(	const std::string &	key,
		const KinematicOptions &	options,
		KinematicOptions::OptionBitmask	fields = `KinematicOptions::ALL`
	)

Set some of the options to be used for a particular key.

Parameters:

key	set the options for this key. To set the default options use key = KinematicOptionsMap::DEFAULT To set ALL options use key = KinematicOptionsMap::ALL
options	the new value for the options.

which options to set for the key.

Definition at line 65 of file kinematic_options_map.cpp.

bool robot_interaction::KinematicOptionsMap::setStateFromIK	(	robot_state::RobotState &	state,
		const std::string &	key,
		const std::string &	group,
		const std::string &	tip,
		const geometry_msgs::Pose &	pose
	)		const

Set state using inverse kinematics.

Parameters:

state	the state to set
key	used to lookup the options to use
group	name of group whose joints can move
tip	link that will be posed
pose	desired pose of tip link
result	true if IK succeeded.