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kinematics::KinematicsBasePtr | allocKinematicsSolver (const robot_model::JointModelGroup *jmg) |
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kinematics::KinematicsBasePtr | allocKinematicsSolverWithCache (const robot_model::JointModelGroup *jmg) |
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std::vector< std::string > | chooseTipFrames (const robot_model::JointModelGroup *jmg) |
| Helper function to decide which, and how many, tip frames a planning group has. More...
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| KinematicsLoaderImpl (const std::string &robot_description, const std::map< std::string, std::vector< std::string > > &possible_kinematics_solvers, const std::map< std::string, std::vector< double > > &search_res, const std::map< std::string, std::vector< std::string > > &iksolver_to_tip_links) |
| Pimpl Implementation of KinematicsLoader. More...
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void | status () const |
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kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::KinematicsLoaderImpl |
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const std::string & |
robot_description, |
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const std::map< std::string, std::vector< std::string > > & |
possible_kinematics_solvers, |
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const std::map< std::string, std::vector< double > > & |
search_res, |
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const std::map< std::string, std::vector< std::string > > & |
iksolver_to_tip_links |
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Pimpl Implementation of KinematicsLoader.
- Parameters
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robot_description | |
possible_kinematics_solvers | |
search_res | |
iksolver_to_tip_links | - a map between each ik solver and a vector of custom-specified tip link(s) |
Definition at line 60 of file kinematics_plugin_loader.cpp.
kinematics::KinematicsBasePtr kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::allocKinematicsSolver |
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const robot_model::JointModelGroup * |
jmg | ) |
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kinematics::KinematicsBasePtr kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::allocKinematicsSolverWithCache |
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const robot_model::JointModelGroup * |
jmg | ) |
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std::vector<std::string> kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::chooseTipFrames |
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const robot_model::JointModelGroup * |
jmg | ) |
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Helper function to decide which, and how many, tip frames a planning group has.
- Parameters
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jmg | - joint model group pointer |
- Returns
- tips - list of valid links in a planning group to plan for
Definition at line 85 of file kinematics_plugin_loader.cpp.
void kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::status |
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std::map<std::string, std::vector<std::string> > kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::iksolver_to_tip_links_ |
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std::map<const robot_model::JointModelGroup*, std::vector<kinematics::KinematicsBasePtr> > kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::instances_ |
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boost::mutex kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::lock_ |
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std::map<std::string, std::vector<std::string> > kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::possible_kinematics_solvers_ |
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std::string kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::robot_description_ |
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std::map<std::string, std::vector<double> > kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::search_res_ |
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The documentation for this class was generated from the following file: