kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl Class Reference

Public Member Functions
kinematics::KinematicsBasePtr	allocKinematicsSolver (const robot_model::JointModelGroup *jmg)
kinematics::KinematicsBasePtr	allocKinematicsSolverWithCache (const robot_model::JointModelGroup *jmg)
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...
	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...
void	status () const

Private Attributes
std::map< std::string, std::vector< std::string > >	iksolver_to_tip_links_
std::map< const robot_model::JointModelGroup *, std::vector< kinematics::KinematicsBasePtr > >	instances_
std::shared_ptr< pluginlib::ClassLoader< kinematics::KinematicsBase > >	kinematics_loader_
boost::mutex	lock_
std::map< std::string, std::vector< std::string > >	possible_kinematics_solvers_
std::string	robot_description_
std::map< std::string, std::vector< double > >	search_res_

Detailed Description

Definition at line 50 of file kinematics_plugin_loader.cpp.

Constructor & Destructor Documentation

kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::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  )

inline

Pimpl Implementation of KinematicsLoader.

Parameters

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.

Member Function Documentation

kinematics::KinematicsBasePtr kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::allocKinematicsSolver ( const robot_model::JointModelGroup *  jmg )

inline

Definition at line 125 of file kinematics_plugin_loader.cpp.

kinematics::KinematicsBasePtr kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::allocKinematicsSolverWithCache ( const robot_model::JointModelGroup *  jmg )

inline

Definition at line 203 of file kinematics_plugin_loader.cpp.

std::vector<std::string> kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::chooseTipFrames ( const robot_model::JointModelGroup *  jmg )

inline

Helper function to decide which, and how many, tip frames a planning group has.

Parameters

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 ( ) const

inline

Definition at line 226 of file kinematics_plugin_loader.cpp.

Member Data Documentation

std::map<std::string, std::vector<std::string> > kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::iksolver_to_tip_links_

private

Definition at line 239 of file kinematics_plugin_loader.cpp.

std::map<const robot_model::JointModelGroup*, std::vector<kinematics::KinematicsBasePtr> > kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::instances_

private

Definition at line 242 of file kinematics_plugin_loader.cpp.

std::shared_ptr<pluginlib::ClassLoader<kinematics::KinematicsBase> > kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::kinematics_loader_

private

Definition at line 241 of file kinematics_plugin_loader.cpp.

boost::mutex kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::lock_

private

Definition at line 243 of file kinematics_plugin_loader.cpp.

std::map<std::string, std::vector<std::string> > kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::possible_kinematics_solvers_

private

Definition at line 237 of file kinematics_plugin_loader.cpp.

std::string kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::robot_description_

private

Definition at line 236 of file kinematics_plugin_loader.cpp.

std::map<std::string, std::vector<double> > kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::search_res_

private

Definition at line 238 of file kinematics_plugin_loader.cpp.

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The documentation for this class was generated from the following file:

• kinematics_plugin_loader.cpp