Public Member Functions | Protected Member Functions | Protected Attributes
IKFAST_NAMESPACE::IKFastPlugin Class Reference
Inheritance diagram for IKFAST_NAMESPACE::IKFastPlugin:
Inheritance graph
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List of all members.

Public Member Functions

virtual const std::vector
< std::string > & 
getJointNames () const
 Return all the joint names in the order they are used internally.
virtual 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) const
 Given a desired pose of the end-effector, compute the joint angles to reach it.
 IKFastPlugin ()
virtual bool initialize (const std::string &robot_description, const std::string &group_name, const std::string &base_frame, const std::string &tip_frame, double search_discretization)
 Initialization function for the kinematics.
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) 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) 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) 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) 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.
virtual ~IKFastPlugin ()
 Virtual destructor for the interface.

Protected Member Functions

bool loadModel (const std::string param)
bool readJoints (urdf::Model &robot_model)
bool searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, std::vector< double > &solution, const std::vector< std::pair< double, double > > &min_max, moveit_msgs::MoveItErrorCodes &error_code, const double timeout=-1, const IKCallbackFn &solution_callback=0) const

Protected Attributes

double bounds_epsilon_
std::vector< double > indices_
std::vector< std::string > joints_
std::vector< std::string > links_
std::vector< std::pair< double,
double > > 
min_max_

Detailed Description

Definition at line 208 of file ikfast_plugin.cpp.


Constructor & Destructor Documentation

virtual IKFAST_NAMESPACE::IKFastPlugin::~IKFastPlugin ( ) [inline, virtual]

Virtual destructor for the interface.

Definition at line 384 of file ikfast_plugin.cpp.

Definition at line 386 of file ikfast_plugin.cpp.


Member Function Documentation

virtual const std::vector<std::string>& IKFAST_NAMESPACE::IKFastPlugin::getJointNames ( ) const [inline, virtual]

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

Implements kinematics::KinematicsBase.

Definition at line 370 of file ikfast_plugin.cpp.

virtual const std::vector<std::string>& IKFAST_NAMESPACE::IKFastPlugin::getLinkNames ( ) const [inline, virtual]

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

Implements kinematics::KinematicsBase.

Definition at line 377 of file ikfast_plugin.cpp.

virtual bool IKFAST_NAMESPACE::IKFastPlugin::getPositionFK ( const std::vector< std::string > &  link_names,
const std::vector< double > &  joint_angles,
std::vector< geometry_msgs::Pose > &  poses 
) const [inline, 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 320 of file ikfast_plugin.cpp.

virtual bool IKFAST_NAMESPACE::IKFastPlugin::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 
) const [inline, 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_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 217 of file ikfast_plugin.cpp.

virtual bool IKFAST_NAMESPACE::IKFastPlugin::initialize ( const std::string &  robot_description,
const std::string &  group_name,
const std::string &  base_frame,
const std::string &  tip_frame,
double  search_discretization 
) [inline, virtual]

Initialization function for the kinematics.

Returns:
True if initialization was successful, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 346 of file ikfast_plugin.cpp.

bool IKFAST_NAMESPACE::IKFastPlugin::loadModel ( const std::string  param) [inline, protected]

Definition at line 437 of file ikfast_plugin.cpp.

bool IKFAST_NAMESPACE::IKFastPlugin::readJoints ( urdf::Model robot_model) [inline, protected]

Definition at line 451 of file ikfast_plugin.cpp.

virtual bool IKFAST_NAMESPACE::IKFastPlugin::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 
) const [inline, 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 235 of file ikfast_plugin.cpp.

virtual bool IKFAST_NAMESPACE::IKFastPlugin::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 
) const [inline, 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 255 of file ikfast_plugin.cpp.

virtual bool IKFAST_NAMESPACE::IKFastPlugin::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 
) const [inline, 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 277 of file ikfast_plugin.cpp.

virtual bool IKFAST_NAMESPACE::IKFastPlugin::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 
) const [inline, 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 299 of file ikfast_plugin.cpp.

bool IKFAST_NAMESPACE::IKFastPlugin::searchPositionIK ( const geometry_msgs::Pose ik_pose,
const std::vector< double > &  ik_seed_state,
std::vector< double > &  solution,
const std::vector< std::pair< double, double > > &  min_max,
moveit_msgs::MoveItErrorCodes &  error_code,
const double  timeout = -1,
const IKCallbackFn solution_callback = 0 
) const [inline, protected]

Definition at line 395 of file ikfast_plugin.cpp.


Member Data Documentation

Definition at line 391 of file ikfast_plugin.cpp.

std::vector<double> IKFAST_NAMESPACE::IKFastPlugin::indices_ [protected]

Definition at line 392 of file ikfast_plugin.cpp.

std::vector<std::string> IKFAST_NAMESPACE::IKFastPlugin::joints_ [protected]

Definition at line 394 of file ikfast_plugin.cpp.

std::vector<std::string> IKFAST_NAMESPACE::IKFastPlugin::links_ [protected]

Definition at line 393 of file ikfast_plugin.cpp.

std::vector<std::pair<double, double> > IKFAST_NAMESPACE::IKFastPlugin::min_max_ [protected]

Definition at line 390 of file ikfast_plugin.cpp.


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


cob_kinematics
Author(s): Mathias L├╝dtke
autogenerated on Thu Jun 6 2019 21:22:53