37 #ifndef MOVEIT_KINEMATICS_PLUGIN_LOADER_ 38 #define MOVEIT_KINEMATICS_PLUGIN_LOADER_ 40 #include <boost/function.hpp> 59 double default_search_resolution = 0.0)
72 const std::string& robot_description =
"robot_description",
73 double default_search_resolution = 0.0)
KinematicsPluginLoader(const std::string &robot_description="robot_description", double default_search_resolution=0.0)
Load the kinematics solvers based on information on the ROS parameter server. Take as optional argume...
std::string default_solver_plugin_
std::map< std::string, double > ik_timeout_
double default_solver_timeout_
const std::vector< std::string > & getKnownGroups() const
Get the groups for which the function pointer returned by getLoaderFunction() can allocate a solver...
std::map< std::string, unsigned int > ik_attempts_
double default_search_resolution_
const std::map< std::string, double > & getIKTimeout() const
Get a map from group name to default IK timeout.
const std::map< std::string, unsigned int > & getIKAttempts() const
Get a map from group name to default IK attempts.
KinematicsLoaderImplPtr loader_
MOVEIT_CLASS_FORWARD(KinematicsPluginLoader)
KinematicsPluginLoader(const std::string &solver_plugin, double solve_timeout, unsigned int ik_attempts, const std::string &robot_description="robot_description", double default_search_resolution=0.0)
Use a default kinematics solver (solver_plugin) for all the groups in the robot model. The default timeout for the solver is solve_timeout and the default number of IK attempts is ik_attempts. Take as optional argument the name of the ROS parameter under which the robot description can be found. This is passed to the kinematics solver initialization as well as used to read the SRDF document when needed.
MOVEIT_CLASS_FORWARD(KinematicsLoaderImpl)
robot_model::SolverAllocatorFn getLoaderFunction()
Get a function pointer that allocates and initializes a kinematics solver. If not previously called...
std::string robot_description_
unsigned int default_ik_attempts_
std::vector< std::string > groups_
Helper class for loading kinematics solvers.