Public Member Functions | |
kinematics::KinematicsBasePtr | allocKinematicsSolver (const robot_model::JointModelGroup *jmg) |
kinematics::KinematicsBasePtr | allocKinematicsSolverWithCache (const robot_model::JointModelGroup *jmg) |
std::vector< std::string > | chooseTipFrames (const robot_model::JointModelGroup *jmg) |
Helper function to decide which, and how many, tip frames a planning group has. | |
KinematicsLoaderImpl (const std::string &robot_description, const std::map< std::string, std::vector< std::string > > &possible_kinematics_solvers, const std::map< std::string, std::vector< double > > &search_res, const std::map< std::string, std::vector< std::string > > &iksolver_to_tip_links) | |
Pimpl Implementation of KinematicsLoader. | |
void | status () const |
Private Attributes | |
std::map< std::string, std::vector< std::string > > | iksolver_to_tip_links_ |
std::map< const robot_model::JointModelGroup *, std::vector < kinematics::KinematicsBasePtr > > | instances_ |
boost::shared_ptr < pluginlib::ClassLoader < kinematics::KinematicsBase > > | kinematics_loader_ |
boost::mutex | lock_ |
std::map< std::string, std::vector< std::string > > | possible_kinematics_solvers_ |
std::string | robot_description_ |
std::map< std::string, std::vector< double > > | search_res_ |
Definition at line 49 of file kinematics_plugin_loader.cpp.
kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::KinematicsLoaderImpl | ( | const std::string & | robot_description, |
const std::map< std::string, std::vector< std::string > > & | possible_kinematics_solvers, | ||
const std::map< std::string, std::vector< double > > & | search_res, | ||
const std::map< std::string, std::vector< std::string > > & | iksolver_to_tip_links | ||
) | [inline] |
Pimpl Implementation of KinematicsLoader.
robot_description | |
possible_kinematics_solvers | |
search_res | |
iksolver_to_tip_links | - a map between each ik solver and a vector of custom-specified tip link(s) |
Definition at line 59 of file kinematics_plugin_loader.cpp.
kinematics::KinematicsBasePtr kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::allocKinematicsSolver | ( | const robot_model::JointModelGroup * | jmg | ) | [inline] |
Definition at line 124 of file kinematics_plugin_loader.cpp.
kinematics::KinematicsBasePtr kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::allocKinematicsSolverWithCache | ( | const robot_model::JointModelGroup * | jmg | ) | [inline] |
Definition at line 202 of file kinematics_plugin_loader.cpp.
std::vector<std::string> kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::chooseTipFrames | ( | const robot_model::JointModelGroup * | jmg | ) | [inline] |
Helper function to decide which, and how many, tip frames a planning group has.
jmg | - joint model group pointer |
Definition at line 84 of file kinematics_plugin_loader.cpp.
void kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::status | ( | ) | const [inline] |
Definition at line 225 of file kinematics_plugin_loader.cpp.
std::map<std::string, std::vector<std::string> > kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::iksolver_to_tip_links_ [private] |
Definition at line 238 of file kinematics_plugin_loader.cpp.
std::map<const robot_model::JointModelGroup*, std::vector<kinematics::KinematicsBasePtr> > kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::instances_ [private] |
Definition at line 241 of file kinematics_plugin_loader.cpp.
boost::shared_ptr<pluginlib::ClassLoader<kinematics::KinematicsBase> > kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::kinematics_loader_ [private] |
Definition at line 240 of file kinematics_plugin_loader.cpp.
boost::mutex kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::lock_ [private] |
Definition at line 242 of file kinematics_plugin_loader.cpp.
std::map<std::string, std::vector<std::string> > kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::possible_kinematics_solvers_ [private] |
Definition at line 236 of file kinematics_plugin_loader.cpp.
std::string kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::robot_description_ [private] |
Definition at line 235 of file kinematics_plugin_loader.cpp.
std::map<std::string, std::vector<double> > kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::search_res_ [private] |
Definition at line 237 of file kinematics_plugin_loader.cpp.