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...

bool	getPositionIK (const std::vector< geometry_msgs::Pose > &ik_poses, const std::vector< double > &ik_seed_state, std::vector< std::vector< double >> &solutions, kinematics::KinematicsResult &result, const kinematics::KinematicsQueryOptions &options) const
	Given a desired pose of the end-effector, compute the set joint angles solutions that are able 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...

bool	setRedundantJoints (const std::vector< unsigned int > &redundant_joint_indices)
	Overrides the default method to prevent changing the redundant joints. More...

void	setSearchDiscretization (const std::map< int, double > &discretization)
	Sets the discretization value for the redundant joint. 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)

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...

void	getSolution (const IkSolutionList< IkReal > &solutions, const std::vector< double > &ik_seed_state, int i, std::vector< double > &solution) const
	Gets a specific solution from the set with joints rotated 360° to be near seed state where possible. 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)

bool	sampleRedundantJoint (kinematics::DiscretizationMethod method, std::vector< double > &sampled_joint_vals) const
	samples the designated redundant joint using the chosen discretization method More...

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_

const std::string	name_ { "ikfast" }

const 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 154 of file ikfast61_moveit_plugin_template.cpp.

Constructor & Destructor Documentation

ikfast_kinematics_plugin::IKFastKinematicsPlugin::IKFastKinematicsPlugin ( )

inline

Definition at line 179 of file ikfast61_moveit_plugin_template.cpp.

Member Function Documentation

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

private

Definition at line 729 of file ikfast61_moveit_plugin_template.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 701 of file ikfast61_moveit_plugin_template.cpp.

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

private

Definition at line 736 of file ikfast61_moveit_plugin_template.cpp.

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

inlineprivatevirtual

Implements kinematics::KinematicsBase.

Definition at line 166 of file ikfast61_moveit_plugin_template.cpp.

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

inlineprivatevirtual

Implements kinematics::KinematicsBase.

Definition at line 170 of file ikfast61_moveit_plugin_template.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.

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 772 of file ikfast61_moveit_plugin_template.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 1097 of file ikfast61_moveit_plugin_template.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::getPositionIK	(	const std::vector< geometry_msgs::Pose > &	ik_poses,
		const std::vector< double > &	ik_seed_state,
		std::vector< std::vector< double >> &	solutions,
		kinematics::KinematicsResult &	result,
		const kinematics::KinematicsQueryOptions &	options
	)		const

Given a desired pose of the end-effector, compute the set joint angles solutions that are able to reach it.

This is a default implementation that returns only one solution and so its result is equivalent to calling 'getPositionIK(...)' with a zero initialized seed.

Parameters

ik_poses	The desired pose of each tip link
ik_seed_state	an initial guess solution for the inverse kinematics
solutions	A vector of vectors where each entry is a valid joint solution
result	A struct that reports the results of the query
options	An option struct which contains the type of redundancy discretization used. This default implementation only supports the KinmaticSearches::NO_DISCRETIZATION method; requesting any other will result in failure.

Returns: True if a valid set of solutions was found, false otherwise.

Definition at line 1204 of file ikfast61_moveit_plugin_template.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 600 of file ikfast61_moveit_plugin_template.cpp.

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

private

Gets a specific solution from the set with joints rotated 360° to be near seed state where possible.

Definition at line 619 of file ikfast61_moveit_plugin_template.cpp.

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

private

Definition at line 651 of file ikfast61_moveit_plugin_template.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 339 of file ikfast61_moveit_plugin_template.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::sampleRedundantJoint	(	kinematics::DiscretizationMethod	method,
		std::vector< double > &	sampled_joint_vals
	)		const

private

samples the designated redundant joint using the chosen discretization method

Parameters

method	An enumeration flag indicating the discretization method to be used
sampled_joint_vals	Sampled joint values for the redundant joint

Returns: True if sampling succeeded.

Definition at line 1347 of file ikfast61_moveit_plugin_template.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 828 of file ikfast61_moveit_plugin_template.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 840 of file ikfast61_moveit_plugin_template.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 851 of file ikfast61_moveit_plugin_template.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

search_mode is currently fixed during code generation

Implements kinematics::KinematicsBase.

Definition at line 862 of file ikfast61_moveit_plugin_template.cpp.

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

virtual

Overrides the default method to prevent changing the redundant joints.

Reimplemented from kinematics::KinematicsBase.

Definition at line 493 of file ikfast61_moveit_plugin_template.cpp.

void ikfast_kinematics_plugin::IKFastKinematicsPlugin::setSearchDiscretization ( const std::map< int, double > & discretization )

Sets the discretization value for the redundant joint.

Since this ikfast implementation allows for one redundant joint then only the first entry will be in the discretization map will be used. Calling this method replaces previous discretization settings.

Parameters

discretization a map of joint indices and discretization value pairs.

Definition at line 460 of file ikfast61_moveit_plugin_template.cpp.

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