descartes_moveit::seed Namespace Reference

Functions
std::vector< std::vector < double > >	findIndustrialSixDOFSeeds (moveit::core::RobotState &state, const std::string &group_name, const std::string &tool_frame)
	findIndustrialSixDOFSeeds() is a specialization of findSeedStatesByPairs() that searches for seed states over joints 2,3 and 4,6 (1 indexed). These joints often form elbow and wrist configurations.
std::vector< std::vector < double > >	findRandomSeeds (moveit::core::RobotState &state, const std::string &group_name, unsigned n)
	Uses moveit's underlying random function to find n random joint configurations that satisfy model bounds.
std::vector< std::vector < double > >	findSeedStatesByPairs (moveit::core::RobotState &state, const std::string &group_name, const std::string &tool_frame, const std::vector< std::pair< unsigned, unsigned > > &pairs)
	Returns a sequence of seed states for iterative inverse kinematic solvers to use when 'sampling' the solution space of a pose. These seeds are generated by iterating through all possible joint permutations of each pair of joints passed in by the user.

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Function Documentation

std::vector<std::vector<double> > descartes_moveit::seed::findIndustrialSixDOFSeeds	(	moveit::core::RobotState &	state,
		const std::string &	group_name,
		const std::string &	tool_frame
	)		[inline]

findIndustrialSixDOFSeeds() is a specialization of findSeedStatesByPairs() that searches for seed states over joints 2,3 and 4,6 (1 indexed). These joints often form elbow and wrist configurations.

Definition at line 64 of file seed_search.h.

JointConfigVec descartes_moveit::seed::findRandomSeeds	(	moveit::core::RobotState &	state,
		const std::string &	group_name,
		unsigned	n
	)

Uses moveit's underlying random function to find n random joint configurations that satisfy model bounds.

Parameters:

state	Shared pointer to robot state used to perform FK/IK
group_name	Name of the move group for which to generate seeds
n	Number of random seeds to create

Returns:

n random valid positions of 'group_name' in moveit config defined by state

Definition at line 245 of file seed_search.cpp.

std::vector<std::vector<double> > descartes_moveit::seed::findSeedStatesByPairs	(	moveit::core::RobotState &	state,
		const std::string &	group_name,
		const std::string &	tool_frame,
		const std::vector< std::pair< unsigned, unsigned > > &	pairs
	)

Returns a sequence of seed states for iterative inverse kinematic solvers to use when 'sampling' the solution space of a pose. These seeds are generated by iterating through all possible joint permutations of each pair of joints passed in by the user.

Parameters:

state	Shared pointer to robot state used to perform FK/IK
group_name	Name of the move group for which to generate seeds
tool_frame	The name of the tool link in which to work with FK/IK
pairs	A sequence of joint pairs used to generate the seed states.

Returns:

A vector of seed states