kinematics_service_capability.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_MOVE_GROUP_KINEMATICS_SERVICE_CAPABILITY_
00038 #define MOVEIT_MOVE_GROUP_KINEMATICS_SERVICE_CAPABILITY_
00039 
00040 #include <moveit/move_group/move_group_capability.h>
00041 #include <moveit_msgs/GetPositionIK.h>
00042 #include <moveit_msgs/GetPositionFK.h>
00043 
00044 namespace move_group
00045 {
00046 class MoveGroupKinematicsService : public MoveGroupCapability
00047 {
00048 public:
00049   MoveGroupKinematicsService();
00050 
00051   virtual void initialize();
00052 
00053 private:
00054   bool computeIKService(moveit_msgs::GetPositionIK::Request& req, moveit_msgs::GetPositionIK::Response& res);
00055   bool computeFKService(moveit_msgs::GetPositionFK::Request& req, moveit_msgs::GetPositionFK::Response& res);
00056 
00057   void computeIK(
00058       moveit_msgs::PositionIKRequest& req, moveit_msgs::RobotState& solution, moveit_msgs::MoveItErrorCodes& error_code,
00059       robot_state::RobotState& rs,
00060       const robot_state::GroupStateValidityCallbackFn& constraint = robot_state::GroupStateValidityCallbackFn()) const;
00061 
00062   ros::ServiceServer fk_service_;
00063   ros::ServiceServer ik_service_;
00064 };
00065 }
00066 
00067 #endif


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Jun 19 2019 19:24:36