This class represents the CLIK IK Solver plugin for moveit. More...
#include <constrained_ik_plugin.h>
Public Member Functions | |
| const std::vector< std::string > & | getJointNames () const override |
| Return all the joint names in the order they are used internally. | |
| const std::vector< std::string > & | getLinkNames () const override |
| Return all the link names in the order they are represented internally. | |
| bool | getPositionFK (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::Pose > &poses) const override |
| See base class for documentation. | |
| 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 override |
| See base class for documentation. | |
| 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) override |
| See base class for documentation. | |
| virtual bool | isActive () const |
| Indicates whether a solver is active. | |
| 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 override |
| See base class for documentation. | |
| 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 override |
| See base class for documentation. | |
| 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 override |
| See base class for documentation. | |
| 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 override |
| See base class for documentation. | |
Protected Attributes | |
| bool | active_ |
| int | dimension_ |
| std::vector< std::string > | joint_names_ |
| basic_kin::BasicKin | kin_ |
| std::vector< std::string > | link_names_ |
| planning_scene::PlanningScenePtr | planning_scene_ |
| robot_model::RobotModelPtr | robot_model_ptr_ |
| moveit::core::RobotStatePtr | robot_state_ |
| boost::shared_ptr< Constrained_IK > | solver_ |
Detailed Description
This class represents the CLIK IK Solver plugin for moveit.
Definition at line 41 of file constrained_ik_plugin.h.
Member Function Documentation
| bool constrained_ik::ConstrainedIKPlugin::isActive | ( | ) | const [virtual] |
Indicates whether a solver is active.
- Returns:
- True if currently solving, otherwise false
Definition at line 47 of file constrained_ik_plugin.cpp.
Member Data Documentation
bool constrained_ik::ConstrainedIKPlugin::active_ [protected] |
Indicates status of the kinematic solver
Definition at line 117 of file constrained_ik_plugin.h.
int constrained_ik::ConstrainedIKPlugin::dimension_ [protected] |
Number of joints
Definition at line 119 of file constrained_ik_plugin.h.
std::vector<std::string> constrained_ik::ConstrainedIKPlugin::joint_names_ [protected] |
list of joint names
Definition at line 121 of file constrained_ik_plugin.h.
Constrained IK kinematics object
Definition at line 118 of file constrained_ik_plugin.h.
std::vector<std::string> constrained_ik::ConstrainedIKPlugin::link_names_ [protected] |
List of link names
Definition at line 120 of file constrained_ik_plugin.h.
planning_scene::PlanningScenePtr constrained_ik::ConstrainedIKPlugin::planning_scene_ [protected] |
Pointer to planning scene which is used for collision queries
Definition at line 122 of file constrained_ik_plugin.h.
robot_model::RobotModelPtr constrained_ik::ConstrainedIKPlugin::robot_model_ptr_ [protected] |
Robot Model Ptr
Definition at line 124 of file constrained_ik_plugin.h.
moveit::core::RobotStatePtr constrained_ik::ConstrainedIKPlugin::robot_state_ [protected] |
Robot State Ptr
Definition at line 123 of file constrained_ik_plugin.h.
boost::shared_ptr<Constrained_IK> constrained_ik::ConstrainedIKPlugin::solver_ [protected] |
Constrained IK Solver
Definition at line 125 of file constrained_ik_plugin.h.
The documentation for this class was generated from the following files: