Public Member Functions | Private Member Functions | Private Attributes
kinematics_constraint_aware::KinematicsConstraintAware Class Reference

#include <kinematics_constraint_aware.h>

List of all members.

Public Member Functions

const std::string & getGroupName () const
bool getIK (const planning_scene::PlanningSceneConstPtr &planning_scene, const kinematics_constraint_aware::KinematicsRequest &request, kinematics_constraint_aware::KinematicsResponse &response) const
 Solve the planning problem.
bool getIK (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::GetConstraintAwarePositionIK::Request &request, moveit_msgs::GetConstraintAwarePositionIK::Response &response) const
 Solve the planning problem.
const
robot_model::RobotModelConstPtr & 
getRobotModel () const
 KinematicsConstraintAware (const robot_model::RobotModelConstPtr &kinematic_model, const std::string &group_name)
 Default constructor.

Private Member Functions

bool convertServiceRequest (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::GetConstraintAwarePositionIK::Request &request, kinematics_constraint_aware::KinematicsRequest &kinematics_request, kinematics_constraint_aware::KinematicsResponse &kinematics_response) const
geometry_msgs::Pose getTipFramePose (const planning_scene::PlanningSceneConstPtr &planning_scene, const robot_state::RobotState &kinematic_state, const geometry_msgs::Pose &pose, const std::string &link_name, unsigned int sub_group_index) const
EigenSTL::vector_Affine3d transformPoses (const planning_scene::PlanningSceneConstPtr &planning_scene, const robot_state::RobotState &kinematic_state, const std::vector< geometry_msgs::PoseStamped > &poses, const std::string &target_frame) const
bool validityCallbackFn (const planning_scene::PlanningSceneConstPtr &planning_scene, const kinematics_constraint_aware::KinematicsRequest &request, kinematics_constraint_aware::KinematicsResponse &response, robot_state::JointStateGroup *joint_state_group, const std::vector< double > &joint_group_variable_values) const

Private Attributes

std::string group_name_
bool has_sub_groups_
unsigned int ik_attempts_
const
robot_model::JointModelGroup * 
joint_model_group_
robot_model::RobotModelConstPtr kinematic_model_
std::vector< std::string > sub_groups_names_

Detailed Description

Definition at line 71 of file kinematics_constraint_aware.h.


Constructor & Destructor Documentation

kinematics_constraint_aware::KinematicsConstraintAware::KinematicsConstraintAware ( const robot_model::RobotModelConstPtr &  kinematic_model,
const std::string &  group_name 
)

Default constructor.

Parameters:
kinematic_modelAn instance of a kinematic model
group_nameThe name of the group to configure this solver for
Returns:
False if any error occurs

Definition at line 47 of file kinematics_constraint_aware.cpp.


Member Function Documentation

bool kinematics_constraint_aware::KinematicsConstraintAware::convertServiceRequest ( const planning_scene::PlanningSceneConstPtr &  planning_scene,
const moveit_msgs::GetConstraintAwarePositionIK::Request &  request,
kinematics_constraint_aware::KinematicsRequest kinematics_request,
kinematics_constraint_aware::KinematicsResponse kinematics_response 
) const [private]

Definition at line 277 of file kinematics_constraint_aware.cpp.

Definition at line 101 of file kinematics_constraint_aware.h.

bool kinematics_constraint_aware::KinematicsConstraintAware::getIK ( const planning_scene::PlanningSceneConstPtr &  planning_scene,
const kinematics_constraint_aware::KinematicsRequest request,
kinematics_constraint_aware::KinematicsResponse response 
) const

Solve the planning problem.

Parameters:
planning_sceneA const reference to the planning scene
requestA const reference to the kinematics request
responseThe solution (if it exists)
Returns:
False if group_name is invalid or ik fails

Definition at line 100 of file kinematics_constraint_aware.cpp.

bool kinematics_constraint_aware::KinematicsConstraintAware::getIK ( const planning_scene::PlanningSceneConstPtr &  planning_scene,
const moveit_msgs::GetConstraintAwarePositionIK::Request &  request,
moveit_msgs::GetConstraintAwarePositionIK::Response &  response 
) const

Solve the planning problem.

Parameters:
planning_sceneA const reference to the planning scene
requestA const reference to the kinematics request
responseThe solution (if it exists)
Returns:
False if group_name is invalid or ik fails

Definition at line 246 of file kinematics_constraint_aware.cpp.

const robot_model::RobotModelConstPtr& kinematics_constraint_aware::KinematicsConstraintAware::getRobotModel ( ) const [inline]

Definition at line 106 of file kinematics_constraint_aware.h.

geometry_msgs::Pose kinematics_constraint_aware::KinematicsConstraintAware::getTipFramePose ( const planning_scene::PlanningSceneConstPtr &  planning_scene,
const robot_state::RobotState &  kinematic_state,
const geometry_msgs::Pose &  pose,
const std::string &  link_name,
unsigned int  sub_group_index 
) const [private]

Definition at line 353 of file kinematics_constraint_aware.cpp.

EigenSTL::vector_Affine3d kinematics_constraint_aware::KinematicsConstraintAware::transformPoses ( const planning_scene::PlanningSceneConstPtr &  planning_scene,
const robot_state::RobotState &  kinematic_state,
const std::vector< geometry_msgs::PoseStamped > &  poses,
const std::string &  target_frame 
) const [private]

Definition at line 331 of file kinematics_constraint_aware.cpp.

bool kinematics_constraint_aware::KinematicsConstraintAware::validityCallbackFn ( const planning_scene::PlanningSceneConstPtr &  planning_scene,
const kinematics_constraint_aware::KinematicsRequest request,
kinematics_constraint_aware::KinematicsResponse response,
robot_state::JointStateGroup *  joint_state_group,
const std::vector< double > &  joint_group_variable_values 
) const [private]

Definition at line 195 of file kinematics_constraint_aware.cpp.


Member Data Documentation

Definition at line 138 of file kinematics_constraint_aware.h.

Definition at line 140 of file kinematics_constraint_aware.h.

Definition at line 142 of file kinematics_constraint_aware.h.

Definition at line 136 of file kinematics_constraint_aware.h.

Definition at line 134 of file kinematics_constraint_aware.h.

Definition at line 132 of file kinematics_constraint_aware.h.


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


moveit_experimental
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley , Jorge Nicho
autogenerated on Mon Jul 24 2017 02:21:02