#include <pr2_arm_kinematics_plugin.h>
Public Member Functions | |
| int | CartToJnt (const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out) override |
| int | cartToJntSearch (const KDL::JntArray &q_in, const KDL::Frame &p_in, KDL::JntArray &q_out, const double &timeout) |
| void | getSolverInfo (moveit_msgs::KinematicSolverInfo &response) |
| PR2ArmIKSolver (const urdf::ModelInterface &robot_model, const std::string &root_frame_name, const std::string &tip_frame_name, const double &search_discretization_angle, const int &free_angle) | |
| void | updateInternalDataStructures () |
| ~PR2ArmIKSolver () override | |
 Public Member Functions inherited from KDL::ChainIkSolverPos | |
| virtual | ~ChainIkSolverPos () |
| Public Member Functions inherited from KDL::SolverI | |
| virtual int | getError () const |
| SolverI () | |
| virtual const char * | strError (const int error) const |
| virtual | ~SolverI () |
Public Attributes | |
| bool | active_ |
| Indicates whether the solver has been successfully initialized. More... | |
| PR2ArmIK | pr2_arm_ik_ |
| The PR2 inverse kinematics solver. More... | |
| Public Attributes inherited from KDL::SolverI | |
| E_DEGRADED | |
| E_MAX_ITERATIONS_EXCEEDED | |
| E_NO_CONVERGE | |
| E_NOERROR | |
| E_NOT_IMPLEMENTED | |
| E_NOT_UP_TO_DATE | |
| E_OUT_OF_RANGE | |
| E_SIZE_MISMATCH | |
| E_SVD_FAILED | |
| E_UNDEFINED | |
Private Member Functions | |
| bool | getCount (int &count, const int &max_count, const int &min_count) |
Private Attributes | |
| int | free_angle_ |
| std::string | root_frame_name_ |
| double | search_discretization_angle_ |
Additional Inherited Members | |
| Protected Attributes inherited from KDL::SolverI | |
| int | error |
Detailed Description
Definition at line 70 of file pr2_arm_kinematics_plugin.h.
Constructor & Destructor Documentation
◆ PR2ArmIKSolver()
| pr2_arm_kinematics::PR2ArmIKSolver::PR2ArmIKSolver | ( | const urdf::ModelInterface & | robot_model, |
| const std::string & | root_frame_name, | ||
| const std::string & | tip_frame_name, | ||
| const double & | search_discretization_angle, | ||
| const int & | free_angle | ||
| ) |
Definition at line 86 of file pr2_arm_kinematics_plugin.cpp.
◆ ~PR2ArmIKSolver()
|
inlineoverride |
Definition at line 86 of file pr2_arm_kinematics_plugin.h.
Member Function Documentation
◆ CartToJnt()
|
overridevirtual |
Implements KDL::ChainIkSolverPos.
Definition at line 106 of file pr2_arm_kinematics_plugin.cpp.
◆ cartToJntSearch()
| int pr2_arm_kinematics::PR2ArmIKSolver::cartToJntSearch | ( | const KDL::JntArray & | q_in, |
| const KDL::Frame & | p_in, | ||
| KDL::JntArray & | q_out, | ||
| const double & | timeout | ||
| ) |
Definition at line 162 of file pr2_arm_kinematics_plugin.cpp.
◆ getCount()
|
private |
Definition at line 50 of file pr2_arm_kinematics_plugin.cpp.
◆ getSolverInfo()
|
inline |
Definition at line 111 of file pr2_arm_kinematics_plugin.h.
◆ updateInternalDataStructures()
|
virtual |
Implements KDL::ChainIkSolverPos.
Definition at line 100 of file pr2_arm_kinematics_plugin.cpp.
Member Data Documentation
◆ active_
| bool pr2_arm_kinematics::PR2ArmIKSolver::active_ |
Indicates whether the solver has been successfully initialized.
Definition at line 105 of file pr2_arm_kinematics_plugin.h.
◆ free_angle_
|
private |
Definition at line 121 of file pr2_arm_kinematics_plugin.h.
◆ pr2_arm_ik_
| PR2ArmIK pr2_arm_kinematics::PR2ArmIKSolver::pr2_arm_ik_ |
The PR2 inverse kinematics solver.
Definition at line 100 of file pr2_arm_kinematics_plugin.h.
◆ root_frame_name_
|
private |
Definition at line 123 of file pr2_arm_kinematics_plugin.h.
◆ search_discretization_angle_
|
private |
Definition at line 119 of file pr2_arm_kinematics_plugin.h.
The documentation for this class was generated from the following files: