RobotModel defines the interface to a kinematics/dynamics functions. Implementations of this class will be used in conjunction with TrajectoryPt objects to determine forward and inverse kinematics. More...
#include <robot_model.h>
Public Member Functions | |
| virtual bool | getAllIK (const Eigen::Affine3d &pose, std::vector< std::vector< double > > &joint_poses) const =0 |
| Returns "all" the joint poses("distributed" in joint space) for a desired affine pose. "All" is determined by each implementation (In the worst case, this means at least getIK). "Distributed" is determined by each implementation. | |
| virtual bool | getCheckCollisions () |
| Indicates if collision checks are enabled. | |
| virtual int | getDOF () const =0 |
| Returns number of DOFs. | |
| virtual bool | getFK (const std::vector< double > &joint_pose, Eigen::Affine3d &pose) const =0 |
| Returns the affine pose. | |
| virtual bool | getIK (const Eigen::Affine3d &pose, const std::vector< double > &seed_state, std::vector< double > &joint_pose) const =0 |
| Returns the joint pose closest to the seed pose for a desired affine pose. | |
| virtual bool | initialize (const std::string &robot_description, const std::string &group_name, const std::string &world_frame, const std::string &tcp_frame)=0 |
| Initializes the robot model when it is instantiated as a moveit_core plugin. | |
| virtual bool | isValid (const std::vector< double > &joint_pose) const =0 |
| Performs all necessary checks to determine joint pose is valid. | |
| virtual bool | isValid (const Eigen::Affine3d &pose) const =0 |
| Performs all necessary checks to determine affine pose is valid. | |
| virtual bool | isValidMove (const std::vector< double > &from_joint_pose, const std::vector< double > &to_joint_pose, double dt) const =0 |
| Performs necessary checks to see if the robot is capable of moving from the initial joint pose to the final pose in dt seconds. | |
| virtual void | setCheckCollisions (bool check_collisions) |
| Enables collision checks. | |
| virtual | ~RobotModel () |
Protected Member Functions | |
| RobotModel () | |
Protected Attributes | |
| bool | check_collisions_ |
RobotModel defines the interface to a kinematics/dynamics functions. Implementations of this class will be used in conjunction with TrajectoryPt objects to determine forward and inverse kinematics.
All methods in this interface class assume a *FIXED* TOOL & WOBJ frame (see TrajectoryPt for frame definitions). The methods for setting/getting these frames are not defined by this class. Implementations of this interface should provide these either by construction or getter/setter methods.
Definition at line 39 of file robot_model.h.
| virtual descartes_core::RobotModel::~RobotModel | ( | ) | [inline, virtual] |
Definition at line 42 of file robot_model.h.
| descartes_core::RobotModel::RobotModel | ( | ) | [inline, protected] |
Definition at line 135 of file robot_model.h.
| virtual bool descartes_core::RobotModel::getAllIK | ( | const Eigen::Affine3d & | pose, |
| std::vector< std::vector< double > > & | joint_poses | ||
| ) | const [pure virtual] |
Returns "all" the joint poses("distributed" in joint space) for a desired affine pose. "All" is determined by each implementation (In the worst case, this means at least getIK). "Distributed" is determined by each implementation.
| pose | Affine pose of TOOL in WOBJ frame |
| joint_poses | Solution (if function successful). |
| virtual bool descartes_core::RobotModel::getCheckCollisions | ( | ) | [inline, virtual] |
Indicates if collision checks are enabled.
Definition at line 118 of file robot_model.h.
| virtual int descartes_core::RobotModel::getDOF | ( | ) | const [pure virtual] |
Returns number of DOFs.
| virtual bool descartes_core::RobotModel::getFK | ( | const std::vector< double > & | joint_pose, |
| Eigen::Affine3d & | pose | ||
| ) | const [pure virtual] |
Returns the affine pose.
| joint_pose | Solution (if function successful). |
| pose | Affine pose of TOOL in WOBJ frame |
| virtual bool descartes_core::RobotModel::getIK | ( | const Eigen::Affine3d & | pose, |
| const std::vector< double > & | seed_state, | ||
| std::vector< double > & | joint_pose | ||
| ) | const [pure virtual] |
Returns the joint pose closest to the seed pose for a desired affine pose.
| pose | Affine pose of TOOL in WOBJ frame |
| seed_state | Joint position seed (returned solution is "close" to the seed). |
| joint_pose | Solution (if function successful). |
| virtual bool descartes_core::RobotModel::initialize | ( | const std::string & | robot_description, |
| const std::string & | group_name, | ||
| const std::string & | world_frame, | ||
| const std::string & | tcp_frame | ||
| ) | [pure virtual] |
Initializes the robot model when it is instantiated as a moveit_core plugin.
| robot_description | name of the ros parameter containing the urdf description |
| group_name | the manipulation group for all the robot links that are part of the same kinematic chain |
| world_frame | name of the root link in the urdf |
| tcp_frame | tool link attached to the robot. When it's not in 'group_name' then it should have a fixed location relative to the last link in 'group_name'. |
| virtual bool descartes_core::RobotModel::isValid | ( | const std::vector< double > & | joint_pose | ) | const [pure virtual] |
Performs all necessary checks to determine joint pose is valid.
| joint_pose | Pose to check |
| virtual bool descartes_core::RobotModel::isValid | ( | const Eigen::Affine3d & | pose | ) | const [pure virtual] |
Performs all necessary checks to determine affine pose is valid.
| pose | Affine pose of TOOL in WOBJ frame |
| virtual bool descartes_core::RobotModel::isValidMove | ( | const std::vector< double > & | from_joint_pose, |
| const std::vector< double > & | to_joint_pose, | ||
| double | dt | ||
| ) | const [pure virtual] |
Performs necessary checks to see if the robot is capable of moving from the initial joint pose to the final pose in dt seconds.
| from_joint_pose | [description] |
| to_joint_pose | [description] |
| dt | [description] |
| virtual void descartes_core::RobotModel::setCheckCollisions | ( | bool | check_collisions | ) | [inline, virtual] |
Enables collision checks.
| check_collisions | enables or disables collisions |
Definition at line 109 of file robot_model.h.
bool descartes_core::RobotModel::check_collisions_ [protected] |
Definition at line 139 of file robot_model.h.