Specific implementation of kinematics using ROS service calls to communicate with external IK solvers. This version can be used with any robot. Supports non-chain kinematic groups. More...
#include <srv_kinematics_plugin.h>
Public Member Functions | |
const std::vector< std::string > & | getJointNames () const |
Return all the joint names in the order they are used internally. More... | |
const std::vector< std::string > & | getLinkNames () const |
Return all the link names in the order they are represented internally. More... | |
virtual bool | getPositionFK (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::Pose > &poses) const |
virtual 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 |
const std::vector< std::string > & | getVariableNames () const |
Return all the variable names in the order they are represented internally. More... | |
virtual bool | initialize (const std::string &robot_description, const std::string &group_name, const std::string &base_name, const std::string &tip_frame, double search_discretization) |
virtual bool | initialize (const std::string &robot_description, const std::string &group_name, const std::string &base_name, const std::vector< std::string > &tip_frames, double search_discretization) |
virtual 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 |
virtual 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 |
virtual 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 |
virtual 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 |
SrvKinematicsPlugin () | |
Default constructor. 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 |
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 () |
Protected Member Functions | |
virtual 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 std::vector< double > &consistency_limits, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const |
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 |
virtual bool | setRedundantJoints (const std::vector< unsigned int > &redundant_joint_indices) |
Protected Member Functions inherited from kinematics::KinematicsBase | |
bool | lookupParam (const std::string ¶m, T &val, const T &default_val) const |
Private Member Functions | |
int | getJointIndex (const std::string &name) const |
bool | isRedundantJoint (unsigned int index) const |
bool | timedOut (const ros::WallTime &start_time, double duration) const |
Private Attributes | |
bool | active_ |
unsigned int | dimension_ |
moveit_msgs::KinematicSolverInfo | ik_group_info_ |
std::shared_ptr< ros::ServiceClient > | ik_service_client_ |
robot_model::JointModelGroup * | joint_model_group_ |
int | num_possible_redundant_joints_ |
robot_model::RobotModelPtr | robot_model_ |
robot_state::RobotStatePtr | robot_state_ |
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 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_ |
Specific implementation of kinematics using ROS service calls to communicate with external IK solvers. This version can be used with any robot. Supports non-chain kinematic groups.
Definition at line 69 of file srv_kinematics_plugin.h.
srv_kinematics_plugin::SrvKinematicsPlugin::SrvKinematicsPlugin | ( | ) |
Default constructor.
Definition at line 56 of file srv_kinematics_plugin.cpp.
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Definition at line 174 of file srv_kinematics_plugin.cpp.
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Return all the joint names in the order they are used internally.
Implements kinematics::KinematicsBase.
Definition at line 418 of file srv_kinematics_plugin.cpp.
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Return all the link names in the order they are represented internally.
Implements kinematics::KinematicsBase.
Definition at line 423 of file srv_kinematics_plugin.cpp.
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Implements kinematics::KinematicsBase.
Definition at line 397 of file srv_kinematics_plugin.cpp.
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Implements kinematics::KinematicsBase.
Definition at line 189 of file srv_kinematics_plugin.cpp.
const std::vector< std::string > & srv_kinematics_plugin::SrvKinematicsPlugin::getVariableNames | ( | ) | const |
Return all the variable names in the order they are represented internally.
Definition at line 428 of file srv_kinematics_plugin.cpp.
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Implements kinematics::KinematicsBase.
Definition at line 108 of file srv_kinematics_plugin.h.
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Reimplemented from kinematics::KinematicsBase.
Definition at line 60 of file srv_kinematics_plugin.cpp.
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Definition at line 166 of file srv_kinematics_plugin.cpp.
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Implements kinematics::KinematicsBase.
Definition at line 200 of file srv_kinematics_plugin.cpp.
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Implements kinematics::KinematicsBase.
Definition at line 212 of file srv_kinematics_plugin.cpp.
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Implements kinematics::KinematicsBase.
Definition at line 222 of file srv_kinematics_plugin.cpp.
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Implements kinematics::KinematicsBase.
Definition at line 233 of file srv_kinematics_plugin.cpp.
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Definition at line 243 of file srv_kinematics_plugin.cpp.
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Definition at line 258 of file srv_kinematics_plugin.cpp.
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Reimplemented from kinematics::KinematicsBase.
Definition at line 150 of file srv_kinematics_plugin.cpp.
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Definition at line 184 of file srv_kinematics_plugin.cpp.
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Definition at line 157 of file srv_kinematics_plugin.h.
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Stores information for the inverse kinematics solver
Definition at line 161 of file srv_kinematics_plugin.h.
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Internal variable that indicates whether solvers are configured and ready
Definition at line 159 of file srv_kinematics_plugin.h.
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Definition at line 170 of file srv_kinematics_plugin.h.
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Definition at line 164 of file srv_kinematics_plugin.h.
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Definition at line 168 of file srv_kinematics_plugin.h.
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Dimension of the group
Definition at line 163 of file srv_kinematics_plugin.h.
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Definition at line 166 of file srv_kinematics_plugin.h.