#include <pr2_arm_ik.h>

Public Member Functions
void	computeIKShoulderPan (const Eigen::Isometry3f &g_in, const double &shoulder_pan_initial_guess, std::vector< std::vector< double > > &solution) const
	compute IK based on an initial guess for the shoulder pan angle. More...

void	computeIKShoulderRoll (const Eigen::Isometry3f &g_in, const double &shoulder_roll_initial_guess, std::vector< std::vector< double > > &solution) const
	compute IK based on an initial guess for the shoulder roll angle. More...

void	getSolverInfo (moveit_msgs::KinematicSolverInfo &info)
	get chain information about the arm. This populates the IK query response, filling in joint level information including names and joint limits. More...

bool	init (const urdf::ModelInterface &robot_model, const std::string &root_name, const std::string &tip_name)
	Initialize the solver by providing a urdf::Model and a root and tip name. More...

	PR2ArmIK ()
	Inverse kinematics for the PR2 arm. More...

	~PR2ArmIK ()

Public Attributes
moveit_msgs::KinematicSolverInfo	solver_info_
	get chain information about the arm. More...

Private Member Functions
void	addJointToChainInfo (const urdf::JointConstSharedPtr &joint, moveit_msgs::KinematicSolverInfo &info)

bool	checkJointLimits (const double &joint_value, const int &joint_num) const

bool	checkJointLimits (const std::vector< double > &joint_values) const

Private Attributes
std::vector< double >	angle_multipliers_

std::vector< bool >	continuous_joint_

double	elbow_wrist_offset_

Eigen::Isometry3f	gf_

Eigen::Isometry3f	grhs_

Eigen::Isometry3f	home_inv_

std::vector< double >	max_angles_

std::vector< double >	min_angles_

double	shoulder_elbow_offset_

double	shoulder_upperarm_offset_

double	shoulder_wrist_offset_

std::vector< double >	solution_

double	torso_shoulder_offset_x_

double	torso_shoulder_offset_y_

double	torso_shoulder_offset_z_

double	upperarm_elbow_offset_

Detailed Description

Definition at line 149 of file pr2_arm_ik.h.

Constructor & Destructor Documentation

◆ PR2ArmIK()

PR2ArmIK::PR2ArmIK ( )

Inverse kinematics for the PR2 arm.

Author: Sachin Chitta sachi.nosp@m.nc@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m

Definition at line 52 of file pr2_arm_ik.cpp.

◆ ~PR2ArmIK()

pr2_arm_kinematics::PR2ArmIK::~PR2ArmIK ( )

inline

Definition at line 157 of file pr2_arm_ik.h.

Member Function Documentation

◆ addJointToChainInfo()

void PR2ArmIK::addJointToChainInfo	(	const urdf::JointConstSharedPtr &	joint,
		moveit_msgs::KinematicSolverInfo &	info
	)

private

Definition at line 154 of file pr2_arm_ik.cpp.

◆ checkJointLimits() [1/2]

bool PR2ArmIK::checkJointLimits	(	const double &	joint_value,
		const int &	joint_num
	)		const

private

Definition at line 778 of file pr2_arm_ik.cpp.

◆ checkJointLimits() [2/2]

bool PR2ArmIK::checkJointLimits ( const std::vector< double > & joint_values ) const

private

Definition at line 766 of file pr2_arm_ik.cpp.

◆ computeIKShoulderPan()

void PR2ArmIK::computeIKShoulderPan	(	const Eigen::Isometry3f &	g_in,
		const double &	shoulder_pan_initial_guess,
		std::vector< std::vector< double > > &	solution
	)		const

compute IK based on an initial guess for the shoulder pan angle.

Parameters

g_in	Input pose for end-effector
shoulder_pan_initial_guess	Initial guess for shoulder pan angle

Definition at line 197 of file pr2_arm_ik.cpp.

◆ computeIKShoulderRoll()

void PR2ArmIK::computeIKShoulderRoll	(	const Eigen::Isometry3f &	g_in,
		const double &	shoulder_roll_initial_guess,
		std::vector< std::vector< double > > &	solution
	)		const

compute IK based on an initial guess for the shoulder roll angle.

Parameters

g_in	Input pose for end-effector
shoulder_roll_initial_guess	Initial guess for shoulder roll angle

Definition at line 462 of file pr2_arm_ik.cpp.

◆ getSolverInfo()

void PR2ArmIK::getSolverInfo ( moveit_msgs::KinematicSolverInfo & info )

get chain information about the arm. This populates the IK query response, filling in joint level information including names and joint limits.

Parameters

info	The response structure to be filled in.

Definition at line 192 of file pr2_arm_ik.cpp.

◆ init()

bool PR2ArmIK::init	(	const urdf::ModelInterface &	robot_model,
		const std::string &	root_name,
		const std::string &	tip_name
	)

Initialize the solver by providing a urdf::Model and a root and tip name.

Parameters

robot_model	A urdf::Model representation of the PR2 robot model
root_name	The root joint name of the arm
tip_name	The tip joint name of the arm

Returns: true if initialization was successful, false otherwise.

Definition at line 56 of file pr2_arm_ik.cpp.

Member Data Documentation

◆ angle_multipliers_

std::vector<double> pr2_arm_kinematics::PR2ArmIK::angle_multipliers_

private

Definition at line 207 of file pr2_arm_ik.h.

◆ continuous_joint_

std::vector<bool> pr2_arm_kinematics::PR2ArmIK::continuous_joint_

private

Definition at line 218 of file pr2_arm_ik.h.

◆ elbow_wrist_offset_

double pr2_arm_kinematics::PR2ArmIK::elbow_wrist_offset_

private

Definition at line 211 of file pr2_arm_ik.h.

◆ gf_

Eigen::Isometry3f pr2_arm_kinematics::PR2ArmIK::gf_

private

Definition at line 205 of file pr2_arm_ik.h.

◆ grhs_

Eigen::Isometry3f pr2_arm_kinematics::PR2ArmIK::grhs_

private

Definition at line 205 of file pr2_arm_ik.h.

◆ home_inv_

Eigen::Isometry3f pr2_arm_kinematics::PR2ArmIK::home_inv_

private

Definition at line 205 of file pr2_arm_ik.h.

◆ max_angles_

std::vector<double> pr2_arm_kinematics::PR2ArmIK::max_angles_

private

Definition at line 216 of file pr2_arm_ik.h.

◆ min_angles_

std::vector<double> pr2_arm_kinematics::PR2ArmIK::min_angles_

private

Definition at line 214 of file pr2_arm_ik.h.

◆ shoulder_elbow_offset_

double pr2_arm_kinematics::PR2ArmIK::shoulder_elbow_offset_

private

Definition at line 212 of file pr2_arm_ik.h.

◆ shoulder_upperarm_offset_

double pr2_arm_kinematics::PR2ArmIK::shoulder_upperarm_offset_

private

Definition at line 211 of file pr2_arm_ik.h.

◆ shoulder_wrist_offset_

double pr2_arm_kinematics::PR2ArmIK::shoulder_wrist_offset_

private

Definition at line 211 of file pr2_arm_ik.h.

◆ solution_

std::vector<double> pr2_arm_kinematics::PR2ArmIK::solution_

private

Definition at line 209 of file pr2_arm_ik.h.

◆ solver_info_

moveit_msgs::KinematicSolverInfo pr2_arm_kinematics::PR2ArmIK::solver_info_

get chain information about the arm.

Definition at line 194 of file pr2_arm_ik.h.

◆ torso_shoulder_offset_x_

double pr2_arm_kinematics::PR2ArmIK::torso_shoulder_offset_x_

private

Definition at line 212 of file pr2_arm_ik.h.

◆ torso_shoulder_offset_y_

double pr2_arm_kinematics::PR2ArmIK::torso_shoulder_offset_y_

private

Definition at line 212 of file pr2_arm_ik.h.

◆ torso_shoulder_offset_z_

double pr2_arm_kinematics::PR2ArmIK::torso_shoulder_offset_z_

private

Definition at line 212 of file pr2_arm_ik.h.

◆ upperarm_elbow_offset_

double pr2_arm_kinematics::PR2ArmIK::upperarm_elbow_offset_

private

Definition at line 211 of file pr2_arm_ik.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PR2ArmIK()

◆ ~PR2ArmIK()

Member Function Documentation

◆ addJointToChainInfo()

◆ checkJointLimits() [1/2]

◆ checkJointLimits() [2/2]

◆ computeIKShoulderPan()

◆ computeIKShoulderRoll()

◆ getSolverInfo()

◆ init()

Member Data Documentation

◆ angle_multipliers_

◆ continuous_joint_

◆ elbow_wrist_offset_

◆ gf_

◆ grhs_

◆ home_inv_

◆ max_angles_

◆ min_angles_

◆ shoulder_elbow_offset_

◆ shoulder_upperarm_offset_

◆ shoulder_wrist_offset_

◆ solution_

◆ solver_info_

◆ torso_shoulder_offset_x_

◆ torso_shoulder_offset_y_

◆ torso_shoulder_offset_z_

◆ upperarm_elbow_offset_