#include <cached_ik_kinematics_plugin.h>
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const IKEntry & | getBestApproximateIKSolution (const std::vector< std::string > &fixed, const std::vector< std::string > &active, const std::vector< Pose > &poses) const |
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| IKCacheMap (const std::string &robot_description, const std::string &group_name, unsigned int num_joints) |
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void | updateCache (const IKEntry &nearest, const std::vector< std::string > &fixed, const std::vector< std::string > &active, const std::vector< Pose > &poses, const std::vector< double > &config) |
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| ~IKCacheMap () |
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std::string | getKey (const std::vector< std::string > &fixed, const std::vector< std::string > &active) const |
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a container of IK caches for cases where there is no fixed base frame
Definition at line 149 of file cached_ik_kinematics_plugin.h.
cached_ik_kinematics_plugin::IKCacheMap::IKCacheMap |
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const std::string & |
robot_description, |
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const std::string & |
group_name, |
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unsigned int |
num_joints |
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cached_ik_kinematics_plugin::IKCacheMap::~IKCacheMap |
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const IKCache::IKEntry & cached_ik_kinematics_plugin::IKCacheMap::getBestApproximateIKSolution |
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const std::vector< std::string > & |
fixed, |
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const std::vector< std::string > & |
active, |
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const std::vector< Pose > & |
poses |
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get the entry from the IK cache that best matches a given vector of poses, with a specified set of fixed and active tip links
Definition at line 298 of file ik_cache.cpp.
std::string cached_ik_kinematics_plugin::IKCacheMap::getKey |
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const std::vector< std::string > & |
fixed, |
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const std::vector< std::string > & |
active |
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void cached_ik_kinematics_plugin::IKCacheMap::updateCache |
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const IKEntry & |
nearest, |
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const std::vector< std::string > & |
fixed, |
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const std::vector< std::string > & |
active, |
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const std::vector< Pose > & |
poses, |
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const std::vector< double > & |
config |
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insert (pose,config) as an entry if it's different enough from the most similar cache entry
Definition at line 313 of file ik_cache.cpp.
std::string cached_ik_kinematics_plugin::IKCacheMap::group_name_ |
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unsigned int cached_ik_kinematics_plugin::IKCacheMap::num_joints_ |
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std::string cached_ik_kinematics_plugin::IKCacheMap::robot_description_ |
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The documentation for this class was generated from the following files: