Namespaces | Functions
seed_search.h File Reference

This file defines methods that can be used to generate seed values for iterative numerical solvers used by Moveit for a generic robot. More...

#include <moveit/robot_state/robot_state.h>
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Namespaces

namespace  descartes_moveit
namespace  descartes_moveit::seed

Functions

std::vector< std::vector
< double > > 
descartes_moveit::seed::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 > > 
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.
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.

Detailed Description

This file defines methods that can be used to generate seed values for iterative numerical solvers used by Moveit for a generic robot.

Author:
Jonathan Meyer
Date:
April 2015

Users can call the findSeedStates() function with a robot state object, a particular Moveit move group, and a series of joint pairs. These joint pairs should define arm configurations such as elbow up or elbow down. For many 6 DOF robots, joints 2 & 3 and joints 4 & 6 (starting counting at 1) will form elbow and wrist configurations.

Definition in file seed_search.h.



descartes_moveit
Author(s): Shaun Edwards
autogenerated on Thu Jun 6 2019 21:36:08