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bool | init (const kinematics_cache::KinematicsCache::Options &opt, const std::string &kinematics_solver_name, const std::string &group_name, const std::string &base_frame, const std::string &tip_frame, double search_discretization) |
| Initialization function. More...
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| KinematicsCacheROS () |
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bool | addToCache (const geometry_msgs::Pose &pose, const std::vector< double > &joint_values, bool overwrite=false) |
| Add a new solution to the cache at the given location. More...
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bool | addToCache (const geometry_msgs::Pose &pose, const std::vector< double > &joint_values, bool overwrite=false) |
| Add a new solution to the cache at the given location. More...
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bool | generateCacheMap (double timeout) |
| Generate the cache map spending timeout (seconds) on the generation process) More...
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bool | generateCacheMap (double timeout) |
| Generate the cache map spending timeout (seconds) on the generation process) More...
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const Options & | getCacheParameters () const |
| Return the cache parameters used for cache construction. More...
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const Options & | getCacheParameters () const |
| Return the cache parameters used for cache construction. More...
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const std::string | getGroupName () |
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const std::string & | getGroupName () const |
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std::pair< double, double > | getMinMaxSquaredDistance () |
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std::pair< double, double > | getMinMaxSquaredDistance () |
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const planning_models::RobotModelConstPtr & | getModelInstance () const |
| Return the instance of the kinematics model. More...
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const robot_model::RobotModelConstPtr & | getModelInstance () const |
| Return the instance of the kinematics model. More...
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bool | getNumSolutions (const geometry_msgs::Pose &pose, unsigned int &num_solutions) const |
| Get number of candidate solutions for a particular pose. More...
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bool | getNumSolutions (const geometry_msgs::Pose &pose, unsigned int &num_solutions) const |
| Get number of candidate solutions for a particular pose. More...
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bool | getSolution (const geometry_msgs::Pose &pose, unsigned int solution_index, std::vector< double > &solution) const |
| Get a candidate solution for a particular pose. Note that the pose will be projected onto the grid used in the caching process. More...
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bool | getSolution (const geometry_msgs::Pose &pose, unsigned int solution_index, std::vector< double > &solution) const |
| Get a candidate solution for a particular pose. Note that the pose will be projected onto the grid used in the caching process. More...
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bool | getSolutions (const geometry_msgs::Pose &pose, std::vector< std::vector< double > > &solutions) const |
| Get all candidate solutions for a particular pose. Note that the pose will be projected onto the grid used in the caching process. The size of the solutions vector MUST be pre-allocated to num_solutions (see getNumSolutions) More...
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bool | getSolutions (const geometry_msgs::Pose &pose, std::vector< std::vector< double > > &solutions) const |
| Get all candidate solutions for a particular pose. Note that the pose will be projected onto the grid used in the caching process. The size of the solutions vector MUST be pre-allocated to num_solutions (see getNumSolutions) More...
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const kinematics::KinematicsBaseConstPtr & | getSolverInstance () const |
| Return the instance of the kinematics solver. More...
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const kinematics::KinematicsBaseConstPtr & | getSolverInstance () const |
| Return the instance of the kinematics solver. More...
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bool | initialize (kinematics::KinematicsBaseConstPtr &solver, const planning_models::RobotModelConstPtr &kinematic_model, const KinematicsCache::Options &opt) |
| Initialize the cache class. More...
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bool | initialize (kinematics::KinematicsBaseConstPtr &solver, const robot_model::RobotModelConstPtr &kinematic_model, const KinematicsCache::Options &opt) |
| Initialize the cache class. More...
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| KinematicsCache () |
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| KinematicsCache () |
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bool | readFromFile (const std::string &filename) |
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bool | readFromFile (const std::string &filename) |
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bool | writeToFile (const std::string &filename) |
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bool | writeToFile (const std::string &filename) |
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Definition at line 47 of file kinematics_cache_ros.h.