MoveitStateAdapter adapts the MoveIt RobotState to the Descartes RobotModel interface. More...

#include <moveit_state_adapter.h>

Inheritance diagram for descartes_moveit::MoveitStateAdapter:

Public Member Functions
virtual bool	getAllIK (const Eigen::Affine3d &pose, std::vector< std::vector< double > > &joint_poses) const
virtual int	getDOF () const
virtual bool	getFK (const std::vector< double > &joint_pose, Eigen::Affine3d &pose) const
virtual bool	getIK (const Eigen::Affine3d &pose, const std::vector< double > &seed_state, std::vector< double > &joint_pose) const
const std::vector< std::vector < double > > &	getSeedStates () const
	Retrieves the initial seed states used by iterative inverse kinematic solvers.
moveit::core::RobotStatePtr	getState ()
	Returns the underlying moveit state object so it can be used to generate seeds.
virtual bool	initialize (const std::string &robot_description, const std::string &group_name, const std::string &world_frame, const std::string &tcp_frame)
virtual bool	initialize (robot_model::RobotModelConstPtr robot_model, const std::string &group_name, const std::string &world_frame, const std::string &tcp_frame)
virtual bool	isValid (const std::vector< double > &joint_pose) const
virtual bool	isValid (const Eigen::Affine3d &pose) const
virtual bool	isValidMove (const std::vector< double > &from_joint_pose, const std::vector< double > &to_joint_pose, double dt) const
	MoveitStateAdapter ()
void	setSeedStates (const std::vector< std::vector< double > > &seeds)
	Set the initial states used for iterative inverse kineamtics.
void	setState (const moveit::core::RobotState &state)
	Copies the internal state of 'state' into this model. Useful for initializing the value of joints that are not part of the active move group. Should be called after 'initialize()'.
virtual	~MoveitStateAdapter ()
Protected Member Functions
bool	getIK (const Eigen::Affine3d &pose, std::vector< double > &joint_pose) const
bool	isInCollision (const std::vector< double > &joint_pose) const
Protected Attributes
std::string	group_name_
	Planning group name.
const moveit::core::JointModelGroup *	joint_group_
planning_scene::PlanningScenePtr	planning_scene_
robot_model_loader::RobotModelLoaderPtr	robot_model_loader_
robot_model::RobotModelConstPtr	robot_model_ptr_
moveit::core::RobotStatePtr	robot_state_
std::vector< std::vector < double > >	seed_states_
	Vector of starting configurations for the numerical solver.
std::string	tool_frame_
	Tool frame name.
std::vector< double >	velocity_limits_
std::string	world_frame_
	Work object/reference frame name.
descartes_core::Frame	world_to_root_
	convenient transformation frame

Detailed Description

MoveitStateAdapter adapts the MoveIt RobotState to the Descartes RobotModel interface.

Definition at line 34 of file moveit_state_adapter.h.

Constructor & Destructor Documentation

descartes_moveit::MoveitStateAdapter::MoveitStateAdapter ( )

Definition at line 66 of file moveit_state_adapter.cpp.

virtual descartes_moveit::MoveitStateAdapter::~MoveitStateAdapter ( ) [inline, virtual]

Definition at line 39 of file moveit_state_adapter.h.

Member Function Documentation

bool descartes_moveit::MoveitStateAdapter::getAllIK	(	const Eigen::Affine3d &	pose,
		std::vector< std::vector< double > > &	joint_poses
	)		const `[virtual]`

Implements descartes_core::RobotModel.

Reimplemented in descartes_moveit::IkFastMoveitStateAdapter.

Definition at line 171 of file moveit_state_adapter.cpp.

int descartes_moveit::MoveitStateAdapter::getDOF ( ) const [virtual]

Implements descartes_core::RobotModel.

Definition at line 301 of file moveit_state_adapter.cpp.

bool descartes_moveit::MoveitStateAdapter::getFK	(	const std::vector< double > &	joint_pose,
		Eigen::Affine3d &	pose
	)		const `[virtual]`

Implements descartes_core::RobotModel.

Reimplemented in descartes_moveit::IkFastMoveitStateAdapter.

Definition at line 248 of file moveit_state_adapter.cpp.

bool descartes_moveit::MoveitStateAdapter::getIK	(	const Eigen::Affine3d &	pose,
		const std::vector< double > &	seed_state,
		std::vector< double > &	joint_pose
	)		const `[virtual]`

Implements descartes_core::RobotModel.

Reimplemented in descartes_moveit::IkFastMoveitStateAdapter.

Definition at line 137 of file moveit_state_adapter.cpp.

bool descartes_moveit::MoveitStateAdapter::getIK	(	const Eigen::Affine3d &	pose,
		std::vector< double > &	joint_pose
	)		const `[protected]`

Gets IK solution (assumes robot state is pre-seeded)

Parameters:

pose	Affine pose of TOOL in WOBJ frame
joint_pose	Solution (if function successful).

Returns:

Definition at line 144 of file moveit_state_adapter.cpp.

const std::vector<std::vector<double> >& descartes_moveit::MoveitStateAdapter::getSeedStates ( ) const [inline]

Retrieves the initial seed states used by iterative inverse kinematic solvers.

Definition at line 77 of file moveit_state_adapter.h.

moveit::core::RobotStatePtr descartes_moveit::MoveitStateAdapter::getState ( ) [inline]

Returns the underlying moveit state object so it can be used to generate seeds.

Definition at line 85 of file moveit_state_adapter.h.

bool descartes_moveit::MoveitStateAdapter::initialize	(	const std::string &	robot_description,
		const std::string &	group_name,
		const std::string &	world_frame,
		const std::string &	tcp_frame
	)		`[virtual]`

Implements descartes_core::RobotModel.

Reimplemented in descartes_moveit::IkFastMoveitStateAdapter.

Definition at line 70 of file moveit_state_adapter.cpp.

bool descartes_moveit::MoveitStateAdapter::initialize	(	robot_model::RobotModelConstPtr	robot_model,
		const std::string &	group_name,
		const std::string &	world_frame,
		const std::string &	tcp_frame
	)		`[virtual]`

Definition at line 79 of file moveit_state_adapter.cpp.

bool descartes_moveit::MoveitStateAdapter::isInCollision ( const std::vector< double > & joint_pose ) const [protected]

TODO: Checks for collisions at this joint pose. The setCollisionCheck(true) must have been called previously in order to enable collision checks, otherwise it will return false.

Parameters:

joint_pose the joint values at which check for collisions will be made

Definition at line 237 of file moveit_state_adapter.cpp.

bool descartes_moveit::MoveitStateAdapter::isValid ( const std::vector< double > & joint_pose ) const [virtual]

Implements descartes_core::RobotModel.

Definition at line 274 of file moveit_state_adapter.cpp.

bool descartes_moveit::MoveitStateAdapter::isValid ( const Eigen::Affine3d & pose ) const [virtual]

Implements descartes_core::RobotModel.

Definition at line 294 of file moveit_state_adapter.cpp.

bool descartes_moveit::MoveitStateAdapter::isValidMove	(	const std::vector< double > &	from_joint_pose,
		const std::vector< double > &	to_joint_pose,
		double	dt
	)		const `[virtual]`

Implements descartes_core::RobotModel.

Definition at line 306 of file moveit_state_adapter.cpp.

void descartes_moveit::MoveitStateAdapter::setSeedStates ( const std::vector< std::vector< double > > & seeds ) [inline]

Set the initial states used for iterative inverse kineamtics.

Parameters:

seeds Vector of vector of doubles representing joint positions. Be sure that it's sized correctly for the DOF.

Definition at line 69 of file moveit_state_adapter.h.

void descartes_moveit::MoveitStateAdapter::setState ( const moveit::core::RobotState & state )

Copies the internal state of 'state' into this model. Useful for initializing the value of joints that are not part of the active move group. Should be called after 'initialize()'.

Reimplemented in descartes_moveit::IkFastMoveitStateAdapter.

Definition at line 327 of file moveit_state_adapter.cpp.

Member Data Documentation

std::string descartes_moveit::MoveitStateAdapter::group_name_ [protected]

Planning group name.

Definition at line 137 of file moveit_state_adapter.h.

const moveit::core::JointModelGroup* descartes_moveit::MoveitStateAdapter::joint_group_ [protected]

Definition at line 127 of file moveit_state_adapter.h.

planning_scene::PlanningScenePtr descartes_moveit::MoveitStateAdapter::planning_scene_ [protected]

Definition at line 121 of file moveit_state_adapter.h.

robot_model_loader::RobotModelLoaderPtr descartes_moveit::MoveitStateAdapter::robot_model_loader_ [protected]

Definition at line 125 of file moveit_state_adapter.h.

robot_model::RobotModelConstPtr descartes_moveit::MoveitStateAdapter::robot_model_ptr_ [protected]

Definition at line 123 of file moveit_state_adapter.h.

moveit::core::RobotStatePtr descartes_moveit::MoveitStateAdapter::robot_state_ [mutable, protected]

Definition at line 119 of file moveit_state_adapter.h.

std::vector<std::vector<double> > descartes_moveit::MoveitStateAdapter::seed_states_ [protected]

Vector of starting configurations for the numerical solver.

Definition at line 132 of file moveit_state_adapter.h.

std::string descartes_moveit::MoveitStateAdapter::tool_frame_ [protected]

Tool frame name.

Definition at line 142 of file moveit_state_adapter.h.

std::vector<double> descartes_moveit::MoveitStateAdapter::velocity_limits_ [protected]

Maximum joint velocities (rad/s) for each joint in the chain. Used for checking in `isValidMove()`

Definition at line 117 of file moveit_state_adapter.h.

std::string descartes_moveit::MoveitStateAdapter::world_frame_ [protected]

Work object/reference frame name.

Definition at line 147 of file moveit_state_adapter.h.

descartes_core::Frame descartes_moveit::MoveitStateAdapter::world_to_root_ [protected]

convenient transformation frame

Definition at line 152 of file moveit_state_adapter.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation