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. More... | |
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. More... | |
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. More... | |
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). More... | |
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). More... | |
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). More... | |
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. More... | |
bool | setRedundantJoints (const std::vector< unsigned int > &redundant_joint_indices) |
Overrides the default method to prevent changing the redundant joints. More... | |
void | setSearchDiscretization (const std::map< int, double > &discretization) |
Sets the discretization value for the redundant joint. More... | |
Public Member Functions inherited from kinematics::KinematicsBase | |
virtual const std::string & | getBaseFrame () const |
double | getDefaultTimeout () const |
virtual const std::string & | getGroupName () const |
virtual bool | getPositionIK (const std::vector< geometry_msgs::Pose > &ik_poses, const std::vector< double > &ik_seed_state, std::vector< std::vector< double > > &solutions, KinematicsResult &result, const kinematics::KinematicsQueryOptions &options) const |
virtual void | getRedundantJoints (std::vector< unsigned int > &redundant_joint_indices) const |
double | getSearchDiscretization (int joint_index=0) const |
std::vector< DiscretizationMethod > | getSupportedDiscretizationMethods () const |
virtual const std::string & | getTipFrame () const |
virtual const std::vector< std::string > & | getTipFrames () const |
virtual bool | initialize (const std::string &robot_description, const std::string &group_name, const std::string &base_frame, const std::vector< std::string > &tip_frames, double search_discretization) |
KinematicsBase () | |
virtual bool | searchPositionIK (const std::vector< geometry_msgs::Pose > &ik_poses, 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 moveit::core::RobotState *context_state=NULL) const |
void | setDefaultTimeout (double timeout) |
bool | setRedundantJoints (const std::vector< std::string > &redundant_joint_names) |
void | setSearchDiscretization (const std::map< int, double > &discretization) |
void | setSearchDiscretization (double sd) |
virtual void | setValues (const std::string &robot_description, const std::string &group_name, const std::string &base_frame, const std::string &tip_frame, double search_discretization) |
virtual void | setValues (const std::string &robot_description, const std::string &group_name, const std::string &base_frame, const std::vector< std::string > &tip_frames, double search_discretization) |
virtual bool | supportsGroup (const moveit::core::JointModelGroup *jmg, std::string *error_text_out=NULL) const |
virtual | ~KinematicsBase () |
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. More... | |
void | getSolution (const IkSolutionList< IkReal > &solutions, const std::vector< double > &ik_seed_state, int i, std::vector< double > &solution) const |
Gets a specific solution from the set with joints rotated 360° to be near seed state where possible. More... | |
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 More... | |
int | solve (KDL::Frame &pose_frame, const std::vector< double > &vfree, IkSolutionList< IkReal > &solutions) const |
Calls the IK solver from IKFast. More... | |
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_ |
const std::string | name_ { "ikfast" } |
const size_t | num_joints_ |
Additional Inherited Members | |
Public Types inherited from kinematics::KinematicsBase | |
typedef boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, moveit_msgs::MoveItErrorCodes &error_code)> | IKCallbackFn |
Static Public Attributes inherited from kinematics::KinematicsBase | |
static const double | DEFAULT_SEARCH_DISCRETIZATION |
static const double | DEFAULT_TIMEOUT |
Protected Member Functions inherited from kinematics::KinematicsBase | |
bool | lookupParam (const std::string ¶m, T &val, const T &default_val) const |
Protected Attributes inherited from kinematics::KinematicsBase | |
std::string | base_frame_ |
double | default_timeout_ |
std::string | group_name_ |
std::map< int, double > | redundant_joint_discretization_ |
std::vector< unsigned int > | redundant_joint_indices_ |
std::string | robot_description_ |
double | search_discretization_ |
std::vector< DiscretizationMethod > | supported_methods_ |
std::string | tip_frame_ |
std::vector< std::string > | tip_frames_ |
Definition at line 154 of file ikfast61_moveit_plugin_template.cpp.
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Definition at line 179 of file ikfast61_moveit_plugin_template.cpp.
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Definition at line 729 of file ikfast61_moveit_plugin_template.cpp.
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Definition at line 701 of file ikfast61_moveit_plugin_template.cpp.
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Definition at line 736 of file ikfast61_moveit_plugin_template.cpp.
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Implements kinematics::KinematicsBase.
Definition at line 166 of file ikfast61_moveit_plugin_template.cpp.
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Implements kinematics::KinematicsBase.
Definition at line 170 of file ikfast61_moveit_plugin_template.cpp.
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Given a set of joint angles and a set of links, compute their pose.
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()) |
Implements kinematics::KinematicsBase.
Definition at line 772 of file ikfast61_moveit_plugin_template.cpp.
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Given a desired pose of the end-effector, compute the joint angles to reach it.
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 |
Implements kinematics::KinematicsBase.
Definition at line 1097 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 |
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.
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. |
Definition at line 1204 of file ikfast61_moveit_plugin_template.cpp.
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Gets a specific solution from the set.
Definition at line 600 of file ikfast61_moveit_plugin_template.cpp.
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Gets a specific solution from the set with joints rotated 360° to be near seed state where possible.
Definition at line 619 of file ikfast61_moveit_plugin_template.cpp.
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Definition at line 651 of file ikfast61_moveit_plugin_template.cpp.
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Implements kinematics::KinematicsBase.
Definition at line 339 of file ikfast61_moveit_plugin_template.cpp.
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samples the designated redundant joint using the chosen discretization method
method | An enumeration flag indicating the discretization method to be used |
sampled_joint_vals | Sampled joint values for the redundant joint |
Definition at line 1347 of file ikfast61_moveit_plugin_template.cpp.
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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).
ik_pose | the desired pose of the link |
ik_seed_state | an initial guess solution for the inverse kinematics |
Implements kinematics::KinematicsBase.
Definition at line 828 of file ikfast61_moveit_plugin_template.cpp.
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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).
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 |
Implements kinematics::KinematicsBase.
Definition at line 840 of file ikfast61_moveit_plugin_template.cpp.
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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).
ik_pose | the desired pose of the link |
ik_seed_state | an initial guess solution for the inverse kinematics |
Implements kinematics::KinematicsBase.
Definition at line 851 of file ikfast61_moveit_plugin_template.cpp.
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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.
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 |
search_mode is currently fixed during code generation
Implements kinematics::KinematicsBase.
Definition at line 862 of file ikfast61_moveit_plugin_template.cpp.
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Overrides the default method to prevent changing the redundant joints.
Reimplemented from kinematics::KinematicsBase.
Definition at line 493 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.
discretization | a map of joint indices and discretization value pairs. |
Definition at line 460 of file ikfast61_moveit_plugin_template.cpp.
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Calls the IK solver from IKFast.
Definition at line 499 of file ikfast61_moveit_plugin_template.cpp.
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Definition at line 163 of file ikfast61_moveit_plugin_template.cpp.
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Definition at line 162 of file ikfast61_moveit_plugin_template.cpp.
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Definition at line 159 of file ikfast61_moveit_plugin_template.cpp.
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Definition at line 158 of file ikfast61_moveit_plugin_template.cpp.
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Definition at line 157 of file ikfast61_moveit_plugin_template.cpp.
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Definition at line 156 of file ikfast61_moveit_plugin_template.cpp.
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Definition at line 160 of file ikfast61_moveit_plugin_template.cpp.
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Definition at line 164 of file ikfast61_moveit_plugin_template.cpp.
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Definition at line 161 of file ikfast61_moveit_plugin_template.cpp.