#include <kinematics_cache_ros.h>
Inheritance diagram for kinematics_cache_ros::KinematicsCacheROS:
Public Member Functions | |
| bool | init (const kinematics_cache::KinematicsCache::Options &opt, const std::string &kinematics_solver_name, const std::string &group_name, const std::string &base_frame, const std::string &tip_frame, double search_discretization) |
| Initialization function. More... | |
| KinematicsCacheROS () | |
 Public Member Functions inherited from kinematics_cache::KinematicsCache | |
| bool | addToCache (const geometry_msgs::Pose &pose, const std::vector< double > &joint_values, bool overwrite=false) |
| Add a new solution to the cache at the given location. More... | |
| bool | addToCache (const geometry_msgs::Pose &pose, const std::vector< double > &joint_values, bool overwrite=false) |
| Add a new solution to the cache at the given location. More... | |
| bool | generateCacheMap (double timeout) |
| Generate the cache map spending timeout (seconds) on the generation process) More... | |
| bool | generateCacheMap (double timeout) |
| Generate the cache map spending timeout (seconds) on the generation process) More... | |
| const Options & | getCacheParameters () const |
| Return the cache parameters used for cache construction. More... | |
| const Options & | getCacheParameters () const |
| Return the cache parameters used for cache construction. More... | |
| const std::string | getGroupName () |
| const std::string & | getGroupName () const |
| std::pair< double, double > | getMinMaxSquaredDistance () |
| std::pair< double, double > | getMinMaxSquaredDistance () |
| const planning_models::RobotModelConstPtr & | getModelInstance () const |
| Return the instance of the kinematics model. More... | |
| const robot_model::RobotModelConstPtr & | getModelInstance () const |
| Return the instance of the kinematics model. More... | |
| bool | getNumSolutions (const geometry_msgs::Pose &pose, unsigned int &num_solutions) const |
| Get number of candidate solutions for a particular pose. More... | |
| bool | getNumSolutions (const geometry_msgs::Pose &pose, unsigned int &num_solutions) const |
| Get number of candidate solutions for a particular pose. More... | |
| bool | getSolution (const geometry_msgs::Pose &pose, unsigned int solution_index, std::vector< double > &solution) const |
| Get a candidate solution for a particular pose. Note that the pose will be projected onto the grid used in the caching process. More... | |
| bool | getSolution (const geometry_msgs::Pose &pose, unsigned int solution_index, std::vector< double > &solution) const |
| Get a candidate solution for a particular pose. Note that the pose will be projected onto the grid used in the caching process. More... | |
| bool | getSolutions (const geometry_msgs::Pose &pose, std::vector< std::vector< double > > &solutions) const |
| Get all candidate solutions for a particular pose. Note that the pose will be projected onto the grid used in the caching process. The size of the solutions vector MUST be pre-allocated to num_solutions (see getNumSolutions) More... | |
| bool | getSolutions (const geometry_msgs::Pose &pose, std::vector< std::vector< double > > &solutions) const |
| Get all candidate solutions for a particular pose. Note that the pose will be projected onto the grid used in the caching process. The size of the solutions vector MUST be pre-allocated to num_solutions (see getNumSolutions) More... | |
| const kinematics::KinematicsBaseConstPtr & | getSolverInstance () const |
| Return the instance of the kinematics solver. More... | |
| const kinematics::KinematicsBaseConstPtr & | getSolverInstance () const |
| Return the instance of the kinematics solver. More... | |
| bool | initialize (kinematics::KinematicsBaseConstPtr &solver, const planning_models::RobotModelConstPtr &kinematic_model, const KinematicsCache::Options &opt) |
| Initialize the cache class. More... | |
| bool | initialize (kinematics::KinematicsBaseConstPtr &solver, const robot_model::RobotModelConstPtr &kinematic_model, const KinematicsCache::Options &opt) |
| Initialize the cache class. More... | |
| KinematicsCache () | |
| KinematicsCache () | |
| bool | readFromFile (const std::string &filename) |
| bool | readFromFile (const std::string &filename) |
| bool | writeToFile (const std::string &filename) |
| bool | writeToFile (const std::string &filename) |
Private Attributes | |
| planning_models::RobotModelPtr | kinematic_model_ |
| boost::shared_ptr< pluginlib::ClassLoader< kinematics::KinematicsBase > > | kinematics_loader_ |
| kinematics::KinematicsBase * | kinematics_solver_ |
Detailed Description
Definition at line 47 of file kinematics_cache_ros.h.
Constructor & Destructor Documentation
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inline |
Definition at line 54 of file kinematics_cache_ros.h.
Member Function Documentation
| bool kinematics_cache_ros::KinematicsCacheROS::init | ( | const kinematics_cache::KinematicsCache::Options & | opt, |
| const std::string & | kinematics_solver_name, | ||
| const std::string & | group_name, | ||
| const std::string & | base_frame, | ||
| const std::string & | tip_frame, | ||
| double | search_discretization | ||
| ) |
Initialization function.
- Parameters
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opt A set of options for setting up the cache
Definition at line 52 of file kinematics_cache_ros.cpp.
Member Data Documentation
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private |
A loader needed to load the instance of a kinematics solver
Definition at line 69 of file kinematics_cache_ros.h.
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private |
An instance of a kinematics solver needed by this class
Definition at line 67 of file kinematics_cache_ros.h.
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private |
Definition at line 64 of file kinematics_cache_ros.h.
The documentation for this class was generated from the following files: