Classes | Namespaces | Macros | Enumerations | Functions | Variables
fetch_arm_ikfast_moveit_plugin.cpp File Reference
#include <ros/ros.h>
#include <moveit/kinematics_base/kinematics_base.h>
#include <moveit/robot_state/robot_state.h>
#include <Eigen/Geometry>
#include <tf2_kdl/tf2_kdl.h>
#include <tf2_eigen/tf2_eigen.h>
#include <eigen_conversions/eigen_kdl.h>
#include "fetch_arm_ikfast_solver.cpp"
#include <pluginlib/class_list_macros.hpp>
Include dependency graph for fetch_arm_ikfast_moveit_plugin.cpp:

Go to the source code of this file.

Classes

struct  fetch_arm::CheckValue< T >
 
class  fetch_arm::IKFastKinematicsPlugin
 
class  fetch_arm::IKSolver
 
struct  fetch_arm::LimitObeyingSol
 

Namespaces

 fetch_arm
 

Macros

#define IKFAST_NO_MAIN
 

Enumerations

enum  fetch_arm::IkParameterizationType {
  fetch_arm::IKP_None = 0, fetch_arm::IKP_Transform6D = 0x67000001, fetch_arm::IKP_Rotation3D = 0x34000002, fetch_arm::IKP_Translation3D = 0x33000003,
  fetch_arm::IKP_Direction3D = 0x23000004, fetch_arm::IKP_Ray4D = 0x46000005, fetch_arm::IKP_Lookat3D = 0x23000006, fetch_arm::IKP_TranslationDirection5D = 0x56000007,
  fetch_arm::IKP_TranslationXY2D = 0x22000008, fetch_arm::IKP_TranslationXYOrientation3D = 0x33000009, fetch_arm::IKP_TranslationLocalGlobal6D = 0x3600000a, fetch_arm::IKP_TranslationXAxisAngle4D = 0x4400000b,
  fetch_arm::IKP_TranslationYAxisAngle4D = 0x4400000c, fetch_arm::IKP_TranslationZAxisAngle4D = 0x4400000d, fetch_arm::IKP_TranslationXAxisAngleZNorm4D = 0x4400000e, fetch_arm::IKP_TranslationYAxisAngleXNorm4D = 0x4400000f,
  fetch_arm::IKP_TranslationZAxisAngleYNorm4D = 0x44000010, fetch_arm::IKP_NumberOfParameterizations = 16, fetch_arm::IKP_VelocityDataBit, fetch_arm::IKP_Transform6DVelocity = IKP_Transform6D | IKP_VelocityDataBit,
  fetch_arm::IKP_Rotation3DVelocity = IKP_Rotation3D | IKP_VelocityDataBit, fetch_arm::IKP_Translation3DVelocity = IKP_Translation3D | IKP_VelocityDataBit, fetch_arm::IKP_Direction3DVelocity = IKP_Direction3D | IKP_VelocityDataBit, fetch_arm::IKP_Ray4DVelocity = IKP_Ray4D | IKP_VelocityDataBit,
  fetch_arm::IKP_Lookat3DVelocity = IKP_Lookat3D | IKP_VelocityDataBit, fetch_arm::IKP_TranslationDirection5DVelocity = IKP_TranslationDirection5D | IKP_VelocityDataBit, fetch_arm::IKP_TranslationXY2DVelocity = IKP_TranslationXY2D | IKP_VelocityDataBit, fetch_arm::IKP_TranslationXYOrientation3DVelocity = IKP_TranslationXYOrientation3D | IKP_VelocityDataBit,
  fetch_arm::IKP_TranslationLocalGlobal6DVelocity = IKP_TranslationLocalGlobal6D | IKP_VelocityDataBit, fetch_arm::IKP_TranslationXAxisAngle4DVelocity = IKP_TranslationXAxisAngle4D | IKP_VelocityDataBit, fetch_arm::IKP_TranslationYAxisAngle4DVelocity = IKP_TranslationYAxisAngle4D | IKP_VelocityDataBit, fetch_arm::IKP_TranslationZAxisAngle4DVelocity = IKP_TranslationZAxisAngle4D | IKP_VelocityDataBit,
  fetch_arm::IKP_TranslationXAxisAngleZNorm4DVelocity = IKP_TranslationXAxisAngleZNorm4D | IKP_VelocityDataBit, fetch_arm::IKP_TranslationYAxisAngleXNorm4DVelocity = IKP_TranslationYAxisAngleXNorm4D | IKP_VelocityDataBit, fetch_arm::IKP_TranslationZAxisAngleYNorm4DVelocity = IKP_TranslationZAxisAngleYNorm4D | IKP_VelocityDataBit, fetch_arm::IKP_UniqueIdMask = 0x0000ffff,
  fetch_arm::IKP_CustomDataBit = 0x00010000
}
 The types of inverse kinematics parameterizations supported. More...
 
enum  SEARCH_MODE { OPTIMIZE_FREE_JOINT = 1, OPTIMIZE_MAX_JOINT = 2 }
 Search modes for searchPositionIK(), see there. More...
 

Functions

IKFAST_API void fetch_arm::ComputeFk (const IkReal *j, IkReal *eetrans, IkReal *eerot)
 
IKFAST_API bool fetch_arm::ComputeIk (const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)
 
IKFAST_API bool fetch_arm::ComputeIk2 (const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions, void *pOpenRAVEManip)
 
void fetch_arm::dgeev_ (const char *jobvl, const char *jobvr, const int *n, double *a, const int *lda, double *wr, double *wi, double *vl, const int *ldvl, double *vr, const int *ldvr, double *work, const int *lwork, int *info)
 
void fetch_arm::dgesv_ (const int *n, const int *nrhs, double *a, const int *lda, int *ipiv, double *b, const int *ldb, int *info)
 
void fetch_arm::dgetrf_ (const int *m, const int *n, double *a, const int *lda, int *ipiv, int *info)
 
void fetch_arm::dgetri_ (const int *n, const double *a, const int *lda, int *ipiv, double *work, const int *lwork, int *info)
 
void fetch_arm::dgetrs_ (const char *trans, const int *n, const int *nrhs, double *a, const int *lda, int *ipiv, double *b, const int *ldb, int *info)
 
IKFAST_API int * fetch_arm::GetFreeParameters ()
 
IKFAST_API const char * fetch_arm::GetIkFastVersion ()
 
IKFAST_API int fetch_arm::GetIkRealSize ()
 
IKFAST_API int fetch_arm::GetIkType ()
 
IKFAST_API const char * fetch_arm::GetKinematicsHash ()
 
IKFAST_API int fetch_arm::GetNumFreeParameters ()
 
IKFAST_API int fetch_arm::GetNumJoints ()
 
float fetch_arm::IKabs (float f)
 
double fetch_arm::IKabs (double f)
 
float fetch_arm::IKacos (float f)
 
double fetch_arm::IKacos (double f)
 
float fetch_arm::IKasin (float f)
 
double fetch_arm::IKasin (double f)
 
float fetch_arm::IKatan2 (float fy, float fx)
 
double fetch_arm::IKatan2 (double fy, double fx)
 
float fetch_arm::IKatan2Simple (float fy, float fx)
 
double fetch_arm::IKatan2Simple (double fy, double fx)
 
template<typename T >
CheckValue< T > fetch_arm::IKatan2WithCheck (T fy, T fx, T epsilon)
 
float fetch_arm::IKcos (float f)
 
double fetch_arm::IKcos (double f)
 
 fetch_arm::IKFAST_COMPILE_ASSERT (IKFAST_VERSION==0x10000049)
 
float fetch_arm::IKfmod (float x, float y)
 
double fetch_arm::IKfmod (double x, double y)
 
float fetch_arm::IKlog (float f)
 
double fetch_arm::IKlog (double f)
 
template<typename T >
CheckValue< T > fetch_arm::IKPowWithIntegerCheck (T f, int n)
 
float fetch_arm::IKsign (float f)
 
double fetch_arm::IKsign (double f)
 
float fetch_arm::IKsin (float f)
 
double fetch_arm::IKsin (double f)
 
float fetch_arm::IKsqr (float f)
 
double fetch_arm::IKsqr (double f)
 
float fetch_arm::IKsqrt (float f)
 
double fetch_arm::IKsqrt (double f)
 
float fetch_arm::IKtan (float f)
 
double fetch_arm::IKtan (double f)
 
 PLUGINLIB_EXPORT_CLASS (fetch_arm::IKFastKinematicsPlugin, kinematics::KinematicsBase)
 
void fetch_arm::zgetrf_ (const int *m, const int *n, std::complex< double > *a, const int *lda, int *ipiv, int *info)
 

Variables

const double LIMIT_TOLERANCE = .0000001
 

Macro Definition Documentation

◆ IKFAST_NO_MAIN

#define IKFAST_NO_MAIN

Definition at line 65 of file fetch_arm_ikfast_moveit_plugin.cpp.

Enumeration Type Documentation

◆ SEARCH_MODE

enum SEARCH_MODE

Search modes for searchPositionIK(), see there.

Enumerator
OPTIMIZE_FREE_JOINT 
OPTIMIZE_MAX_JOINT 

Definition at line 57 of file fetch_arm_ikfast_moveit_plugin.cpp.

Function Documentation

◆ PLUGINLIB_EXPORT_CLASS()

PLUGINLIB_EXPORT_CLASS ( fetch_arm::IKFastKinematicsPlugin  ,
kinematics::KinematicsBase   
)

Variable Documentation

◆ LIMIT_TOLERANCE

const double LIMIT_TOLERANCE = .0000001

Definition at line 55 of file fetch_arm_ikfast_moveit_plugin.cpp.


fetch_ikfast_plugin
Author(s): Michael Ferguson
autogenerated on Mon Feb 28 2022 22:23:56