Inheritance diagram for ikfast_kinematics_plugin::IKFastKinematicsPlugin:

Public Member Functions
bool	getPositionFK (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::Pose > &poses) const
	Given a set of joint angles and a set of links, compute their pose.
bool	getPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, std::vector< double > &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
	Given a desired pose of the end-effector, compute the joint angles to reach it.
bool	getPositionIK (const std::vector< geometry_msgs::Pose > &ik_poses, const std::vector< double > &ik_seed_state, std::vector< std::vector< double > > &solutions, kinematics::KinematicsResult &result, const kinematics::KinematicsQueryOptions &options) const
	Given a desired pose of the end-effector, compute the set joint angles solutions that are able to reach it.
	IKFastKinematicsPlugin ()
bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, std::vector< double > &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).
bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).
bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).
bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines). The consistency_limit specifies that only certain redundancy positions around those specified in the seed state are admissible and need to be searched.
bool	setRedundantJoints (const std::vector< unsigned int > &redundant_joint_indices)
	Overrides the default method to prevent changing the redundant joints.
void	setSearchDiscretization (const std::map< int, double > &discretization)
	Sets the discretization value for the redundant joint.
Private Member Functions
void	fillFreeParams (int count, int *array)
void	getClosestSolution (const IkSolutionList< IkReal > &solutions, const std::vector< double > &ik_seed_state, std::vector< double > &solution) const
bool	getCount (int &count, const int &max_count, const int &min_count) const
const std::vector< std::string > &	getJointNames () const
const std::vector< std::string > &	getLinkNames () const
void	getSolution (const IkSolutionList< IkReal > &solutions, int i, std::vector< double > &solution) const
	Gets a specific solution from the set.
double	harmonize (const std::vector< double > &ik_seed_state, std::vector< double > &solution) const
bool	initialize (const std::string &robot_description, const std::string &group_name, const std::string &base_name, const std::string &tip_name, double search_discretization)
bool	sampleRedundantJoint (kinematics::DiscretizationMethod method, std::vector< double > &sampled_joint_vals) const
	samples the designated redundant joint using the chosen discretization method
int	solve (KDL::Frame &pose_frame, const std::vector< double > &vfree, IkSolutionList< IkReal > &solutions) const
	Calls the IK solver from IKFast.
Private Attributes
bool	active_
std::vector< int >	free_params_
std::vector< bool >	joint_has_limits_vector_
std::vector< double >	joint_max_vector_
std::vector< double >	joint_min_vector_
std::vector< std::string >	joint_names_
std::vector< std::string >	link_names_
size_t	num_joints_

Detailed Description

Definition at line 142 of file ikfast61_moveit_plugin_template.cpp.

Constructor & Destructor Documentation

ikfast_kinematics_plugin::IKFastKinematicsPlugin::IKFastKinematicsPlugin ( ) [inline]

Definition at line 166 of file ikfast61_moveit_plugin_template.cpp.

Member Function Documentation

void ikfast_kinematics_plugin::IKFastKinematicsPlugin::fillFreeParams	(	int	count,
		int *	array
	)		`[private]`

Definition at line 657 of file ikfast61_moveit_plugin_template.cpp.

void ikfast_kinematics_plugin::IKFastKinematicsPlugin::getClosestSolution	(	const IkSolutionList< IkReal > &	solutions,
		const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution
	)		const `[private]`

Definition at line 629 of file ikfast61_moveit_plugin_template.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::getCount	(	int &	count,
		const int &	max_count,
		const int &	min_count
	)		const `[private]`

Definition at line 664 of file ikfast61_moveit_plugin_template.cpp.

const std::vector<std::string>& ikfast_kinematics_plugin::IKFastKinematicsPlugin::getJointNames ( ) const [inline, private, virtual]

Implements kinematics::KinematicsBase.

Definition at line 153 of file ikfast61_moveit_plugin_template.cpp.

const std::vector<std::string>& ikfast_kinematics_plugin::IKFastKinematicsPlugin::getLinkNames ( ) const [inline, private, virtual]

Implements kinematics::KinematicsBase.

Definition at line 157 of file ikfast61_moveit_plugin_template.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::getPositionFK	(	const std::vector< std::string > &	link_names,
		const std::vector< double > &	joint_angles,
		std::vector< geometry_msgs::Pose > &	poses
	)		const `[virtual]`

Given a set of joint angles and a set of links, compute their pose.

Parameters:

link_names	A set of links for which FK needs to be computed
joint_angles	The state for which FK is being computed
poses	The resultant set of poses (in the frame returned by getBaseFrame())

Returns:: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 700 of file ikfast61_moveit_plugin_template.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::getPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution,
		moveit_msgs::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const `[virtual]`

Given a desired pose of the end-effector, compute the joint angles to reach it.

Parameters:

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics
solution	the solution vector
error_code	an error code that encodes the reason for failure or success

Returns:: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 997 of file ikfast61_moveit_plugin_template.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::getPositionIK	(	const std::vector< geometry_msgs::Pose > &	ik_poses,
		const std::vector< double > &	ik_seed_state,
		std::vector< std::vector< double > > &	solutions,
		kinematics::KinematicsResult &	result,
		const kinematics::KinematicsQueryOptions &	options
	)		const `[virtual]`

Given a desired pose of the end-effector, compute the set joint angles solutions that are able to reach it.

This is a default implementation that returns only one solution and so its result is equivalent to calling 'getPositionIK(...)' with a zero initialized seed.

Parameters:

ik_poses	The desired pose of each tip link
ik_seed_state	an initial guess solution for the inverse kinematics
solutions	A vector of vectors where each entry is a valid joint solution
result	A struct that reports the results of the query
options	An option struct which contains the type of redundancy discretization used. This default implementation only supports the KinmaticSearches::NO_DISCRETIZATION method; requesting any other will result in failure.

Returns:: True if a valid set of solutions was found, false otherwise.

Reimplemented from kinematics::KinematicsBase.

Definition at line 1067 of file ikfast61_moveit_plugin_template.cpp.

void ikfast_kinematics_plugin::IKFastKinematicsPlugin::getSolution	(	const IkSolutionList< IkReal > &	solutions,
		int	i,
		std::vector< double > &	solution
	)		const `[private]`

Gets a specific solution from the set.

Definition at line 560 of file ikfast61_moveit_plugin_template.cpp.

double ikfast_kinematics_plugin::IKFastKinematicsPlugin::harmonize	(	const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution
	)		const `[private]`

Definition at line 579 of file ikfast61_moveit_plugin_template.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::initialize	(	const std::string &	robot_description,
		const std::string &	group_name,
		const std::string &	base_name,
		const std::string &	tip_name,
		double	search_discretization
	)		`[private, virtual]`

Implements kinematics::KinematicsBase.

Definition at line 320 of file ikfast61_moveit_plugin_template.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::sampleRedundantJoint	(	kinematics::DiscretizationMethod	method,
		std::vector< double > &	sampled_joint_vals
	)		const `[private]`

samples the designated redundant joint using the chosen discretization method

Parameters:

method	An enumeration flag indicating the discretization method to be used
sampled_joint_vals	Sampled joint values for the redundant joint

Returns:: True if sampling succeeded.

Definition at line 1210 of file ikfast61_moveit_plugin_template.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		double	timeout,
		std::vector< double > &	solution,
		moveit_msgs::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const `[virtual]`

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters:

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics

Returns:: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 749 of file ikfast61_moveit_plugin_template.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		double	timeout,
		const std::vector< double > &	consistency_limits,
		std::vector< double > &	solution,
		moveit_msgs::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const `[virtual]`

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters:

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics
the	distance that the redundancy can be from the current position

Returns:: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 761 of file ikfast61_moveit_plugin_template.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		double	timeout,
		std::vector< double > &	solution,
		const IKCallbackFn &	solution_callback,
		moveit_msgs::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const `[virtual]`

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters:

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics

Returns:: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 772 of file ikfast61_moveit_plugin_template.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		double	timeout,
		const std::vector< double > &	consistency_limits,
		std::vector< double > &	solution,
		const IKCallbackFn &	solution_callback,
		moveit_msgs::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const `[virtual]`

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines). The consistency_limit specifies that only certain redundancy positions around those specified in the seed state are admissible and need to be searched.

Parameters:

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics
consistency_limit	the distance that the redundancy can be from the current position

Returns:: True if a valid solution was found, false otherwise

search_mode is currently fixed during code generation

Implements kinematics::KinematicsBase.

Definition at line 783 of file ikfast61_moveit_plugin_template.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::setRedundantJoints ( const std::vector< unsigned int > & redundant_joint_indices ) [virtual]

Overrides the default method to prevent changing the redundant joints.

Reimplemented from kinematics::KinematicsBase.

Definition at line 476 of file ikfast61_moveit_plugin_template.cpp.

void ikfast_kinematics_plugin::IKFastKinematicsPlugin::setSearchDiscretization ( const std::map< int, double > & discretization )

Sets the discretization value for the redundant joint.

Since this ikfast implementation allows for one redundant joint then only the first entry will be in the discretization map will be used. Calling this method replaces previous discretization settings.

Parameters:

discretization a map of joint indices and discretization value pairs.

Reimplemented from kinematics::KinematicsBase.

Definition at line 443 of file ikfast61_moveit_plugin_template.cpp.

int ikfast_kinematics_plugin::IKFastKinematicsPlugin::solve	(	KDL::Frame &	pose_frame,
		const std::vector< double > &	vfree,
		IkSolutionList< IkReal > &	solutions
	)		const `[private]`