#include <trac_ik_kinematics_plugin.hpp>
Public Member Functions | |
const std::vector< std::string > & | getJointNames () const |
const std::vector< std::string > & | getLinkNames () const |
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 | 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 | 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 | 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 std::vector< double > &consistency_limits, const kinematics::KinematicsQueryOptions &options) const |
TRAC_IKKinematicsPlugin () | |
~TRAC_IKKinematicsPlugin () | |
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 | |
int | getKDLSegmentIndex (const std::string &name) const |
Private Attributes | |
bool | active_ |
KDL::Chain | chain |
KDL::JntArray | joint_max |
KDL::JntArray | joint_min |
std::vector< std::string > | joint_names_ |
std::vector< std::string > | link_names_ |
uint | num_joints_ |
bool | position_ik_ |
std::string | solve_type |
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 ¶m, 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_ |
Definition at line 40 of file trac_ik_kinematics_plugin.hpp.
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Definition at line 69 of file trac_ik_kinematics_plugin.hpp.
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Definition at line 71 of file trac_ik_kinematics_plugin.hpp.
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Implements kinematics::KinematicsBase.
Definition at line 56 of file trac_ik_kinematics_plugin.hpp.
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Definition at line 155 of file trac_ik_kinematics_plugin.cpp.
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Implements kinematics::KinematicsBase.
Definition at line 60 of file trac_ik_kinematics_plugin.hpp.
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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
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()) |
Implements kinematics::KinematicsBase.
Definition at line 170 of file trac_ik_kinematics_plugin.cpp.
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Given a desired pose of the end-effector, compute the joint angles to reach it.
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 |
Implements kinematics::KinematicsBase.
Definition at line 217 of file trac_ik_kinematics_plugin.cpp.
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Implements kinematics::KinematicsBase.
Definition at line 45 of file trac_ik_kinematics_plugin.cpp.
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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).
ik_pose | the desired pose of the link |
ik_seed_state | an initial guess solution for the inverse kinematics |
Implements kinematics::KinematicsBase.
Definition at line 236 of file trac_ik_kinematics_plugin.cpp.
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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).
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 |
Implements kinematics::KinematicsBase.
Definition at line 256 of file trac_ik_kinematics_plugin.cpp.
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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).
ik_pose | the desired pose of the link |
ik_seed_state | an initial guess solution for the inverse kinematics |
Implements kinematics::KinematicsBase.
Definition at line 275 of file trac_ik_kinematics_plugin.cpp.
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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.
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 |
Implements kinematics::KinematicsBase.
Definition at line 294 of file trac_ik_kinematics_plugin.cpp.
bool trac_ik_kinematics_plugin::TRAC_IKKinematicsPlugin::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 std::vector< double > & | consistency_limits, | ||
const kinematics::KinematicsQueryOptions & | options | ||
) | const |
Definition at line 313 of file trac_ik_kinematics_plugin.cpp.
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Definition at line 46 of file trac_ik_kinematics_plugin.hpp.
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Definition at line 48 of file trac_ik_kinematics_plugin.hpp.
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Definition at line 51 of file trac_ik_kinematics_plugin.hpp.
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Definition at line 51 of file trac_ik_kinematics_plugin.hpp.
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Definition at line 42 of file trac_ik_kinematics_plugin.hpp.
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Definition at line 43 of file trac_ik_kinematics_plugin.hpp.
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Definition at line 45 of file trac_ik_kinematics_plugin.hpp.
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Definition at line 49 of file trac_ik_kinematics_plugin.hpp.
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Definition at line 53 of file trac_ik_kinematics_plugin.hpp.