Inheritance diagram for ikfast_kinematics_plugin::IKFastKinematicsPlugin:

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...

	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...

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)

virtual bool	setRedundantJoints (const std::vector< unsigned int > &redundant_joint_indices)

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...

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)

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_

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 &param, 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_

Detailed Description

Definition at line 114 of file staubli_rx160_manipulator_ikfast_moveit_plugin.cpp.

Constructor & Destructor Documentation

ikfast_kinematics_plugin::IKFastKinematicsPlugin::IKFastKinematicsPlugin ( )

inline

Definition at line 133 of file staubli_rx160_manipulator_ikfast_moveit_plugin.cpp.

Member Function Documentation

void ikfast_kinematics_plugin::IKFastKinematicsPlugin::fillFreeParams	(	int	count,
		int *	array
	)

private

Definition at line 535 of file staubli_rx160_manipulator_ikfast_moveit_plugin.cpp.

void ikfast_kinematics_plugin::IKFastKinematicsPlugin::getClosestSolution	(	const IkSolutionList< IkReal > &	solutions,
		const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution
	)		const

private

Definition at line 511 of file staubli_rx160_manipulator_ikfast_moveit_plugin.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::getCount	(	int &	count,
		const int &	max_count,
		const int &	min_count
	)		const

private

Definition at line 541 of file staubli_rx160_manipulator_ikfast_moveit_plugin.cpp.

const std::vector<std::string>& ikfast_kinematics_plugin::IKFastKinematicsPlugin::getJointNames ( ) const

inlineprivatevirtual

Implements kinematics::KinematicsBase.

Definition at line 125 of file staubli_rx160_manipulator_ikfast_moveit_plugin.cpp.

const std::vector<std::string>& ikfast_kinematics_plugin::IKFastKinematicsPlugin::getLinkNames ( ) const

inlineprivatevirtual

Implements kinematics::KinematicsBase.

Definition at line 126 of file staubli_rx160_manipulator_ikfast_moveit_plugin.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::getPositionFK	(	const std::vector< std::string > &	link_names,
		const std::vector< double > &	joint_angles,
		std::vector< geometry_msgs::Pose > &	poses
	)		const

virtual

Given a set of joint angles and a set of links, compute their pose.

This FK routine is only used if 'use_plugin_fk' is set in the 'arm_kinematics_constraint_aware' node, otherwise ROS TF is used to calculate the forward kinematics

Parameters

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())

Returns: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 577 of file staubli_rx160_manipulator_ikfast_moveit_plugin.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::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

virtual

Given a desired pose of the end-effector, compute the joint angles to reach it.

Parameters

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

Returns: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 850 of file staubli_rx160_manipulator_ikfast_moveit_plugin.cpp.

void ikfast_kinematics_plugin::IKFastKinematicsPlugin::getSolution	(	const IkSolutionList< IkReal > &	solutions,
		int	i,
		std::vector< double > &	solution
	)		const

private

Gets a specific solution from the set.

Definition at line 447 of file staubli_rx160_manipulator_ikfast_moveit_plugin.cpp.

double ikfast_kinematics_plugin::IKFastKinematicsPlugin::harmonize	(	const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution
	)		const

private

Definition at line 465 of file staubli_rx160_manipulator_ikfast_moveit_plugin.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::initialize	(	const std::string &	robot_description,
		const std::string &	group_name,
		const std::string &	base_name,
		const std::string &	tip_name,
		double	search_discretization
	)

privatevirtual

Implements kinematics::KinematicsBase.

Definition at line 260 of file staubli_rx160_manipulator_ikfast_moveit_plugin.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::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

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).

Parameters

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics

Returns: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 619 of file staubli_rx160_manipulator_ikfast_moveit_plugin.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::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

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).

Parameters

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

Returns: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 639 of file staubli_rx160_manipulator_ikfast_moveit_plugin.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::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

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).

Parameters

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics

Returns: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 658 of file staubli_rx160_manipulator_ikfast_moveit_plugin.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::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

virtual

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.

Parameters

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

Returns: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 677 of file staubli_rx160_manipulator_ikfast_moveit_plugin.cpp.

int ikfast_kinematics_plugin::IKFastKinematicsPlugin::solve	(	KDL::Frame &	pose_frame,
		const std::vector< double > &	vfree,
		IkSolutionList< IkReal > &	solutions
	)		const