cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin > Class Template Reference

#include <cached_ik_kinematics_plugin.h>

Inheritance diagram for cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >:

Public Types
using	IKCallbackFn = kinematics::KinematicsBase::IKCallbackFn
using	IKEntry = IKCache::IKEntry
using	KinematicsQueryOptions = kinematics::KinematicsQueryOptions
using	Pose = IKCache::Pose

Public Member Functions
	CachedIKKinematicsPlugin ()
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 KinematicsQueryOptions &options=KinematicsQueryOptions()) const override
bool	initialize (const moveit::core::RobotModel &robot_model, const std::string &group_name, const std::string &base_frame, const std::vector< std::string > &tip_frames, double search_discretization) override
bool	initialize (const std::string &robot_description, const std::string &group_name, const std::string &base_frame, const std::string &tip_frame, double search_discretization) override
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 KinematicsQueryOptions &options=KinematicsQueryOptions()) const override
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 KinematicsQueryOptions &options=KinematicsQueryOptions()) const override
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 KinematicsQueryOptions &options=KinematicsQueryOptions()) const override
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 KinematicsQueryOptions &options=KinematicsQueryOptions()) const override
	~CachedIKKinematicsPlugin () override

Private Member Functions
void	initCache (const std::string &robot_id, const std::string &group_name, const std::string &cache_name)
template<class T = KinematicsPlugin>
std::enable_if<!HasRobotModelApi< T >::value, bool >::type	initializeImpl (const moveit::core::RobotModel &, const std::string &, const std::string &, const std::vector< std::string > &, double)
template<class T = KinematicsPlugin>
std::enable_if< HasRobotModelApi< T >::value, bool >::type	initializeImpl (const moveit::core::RobotModel &robot_model, const std::string &group_name, const std::string &base_frame, const std::vector< std::string > &tip_frames, double search_discretization)
template<class T = KinematicsPlugin>
std::enable_if<!HasRobotDescApi< T >::value, bool >::type	initializeImpl (const std::string &, const std::string &, const std::string &, const std::string &, double)
template<class T = KinematicsPlugin>
std::enable_if< HasRobotDescApi< T >::value, bool >::type	initializeImpl (const std::string &robot_description, const std::string &group_name, const std::string &base_frame, const std::string &tip_frame, double search_discretization)

Private Attributes
IKCache	cache_

Detailed Description

template<class KinematicsPlugin>
class cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >

Caching wrapper for kinematics::KinematicsBase-derived IK solvers.

Definition at line 241 of file cached_ik_kinematics_plugin.h.

Member Typedef Documentation

IKCallbackFn

template<class KinematicsPlugin >

using cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >::IKCallbackFn = kinematics::KinematicsBase::IKCallbackFn

Definition at line 246 of file cached_ik_kinematics_plugin.h.

IKEntry

template<class KinematicsPlugin >

using cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >::IKEntry = IKCache::IKEntry

Definition at line 245 of file cached_ik_kinematics_plugin.h.

KinematicsQueryOptions

template<class KinematicsPlugin >

using cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >::KinematicsQueryOptions = kinematics::KinematicsQueryOptions

Definition at line 247 of file cached_ik_kinematics_plugin.h.

Pose

template<class KinematicsPlugin >

using cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >::Pose = IKCache::Pose

Definition at line 244 of file cached_ik_kinematics_plugin.h.

Constructor & Destructor Documentation

CachedIKKinematicsPlugin()

template<class KinematicsPlugin >

cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >::CachedIKKinematicsPlugin

Definition at line 75 of file cached_ik_kinematics_plugin-inl.h.

~CachedIKKinematicsPlugin()

template<class KinematicsPlugin >

cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >::~CachedIKKinematicsPlugin

override

Definition at line 80 of file cached_ik_kinematics_plugin-inl.h.

Member Function Documentation

getPositionIK()

template<class KinematicsPlugin >

bool cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >::getPositionIK ( const geometry_msgs::Pose &  ik_pose, const std::vector< double > &  ik_seed_state, std::vector< double > &  solution, moveit_msgs::MoveItErrorCodes &  error_code, const KinematicsQueryOptions &  options = KinematicsQueryOptions()  ) const

override

Definition at line 141 of file cached_ik_kinematics_plugin-inl.h.

initCache()

template<class KinematicsPlugin >

void cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >::initCache ( const std::string &  robot_id, const std::string &  group_name, const std::string &  cache_name  )

private

Definition at line 85 of file cached_ik_kinematics_plugin-inl.h.

initialize() [1/2]

template<class KinematicsPlugin >

bool cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >::initialize ( const moveit::core::RobotModel &  robot_model, const std::string &  group_name, const std::string &  base_frame, const std::vector< std::string > &  tip_frames, double  search_discretization  )

inlineoverride

Definition at line 255 of file cached_ik_kinematics_plugin.h.

initialize() [2/2]

template<class KinematicsPlugin >

bool cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >::initialize ( const std::string &  robot_description, const std::string &  group_name, const std::string &  base_frame, const std::string &  tip_frame, double  search_discretization  )

inlineoverride

Definition at line 262 of file cached_ik_kinematics_plugin.h.

initializeImpl() [1/4]

template<class KinematicsPlugin >

template<class T = KinematicsPlugin>

std::enable_if<!HasRobotModelApi<T>::value, bool>::type cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >::initializeImpl ( const moveit::core::RobotModel &  , const std::string &  , const std::string &  , const std::vector< std::string > &  , double    )

inlineprivate

Definition at line 320 of file cached_ik_kinematics_plugin.h.

initializeImpl() [2/4]

template<class KinematicsPlugin >

template<class T = KinematicsPlugin>

std::enable_if<HasRobotModelApi<T>::value, bool>::type cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >::initializeImpl ( const moveit::core::RobotModel &  robot_model, const std::string &  group_name, const std::string &  base_frame, const std::vector< std::string > &  tip_frames, double  search_discretization  )

inlineprivate

Definition at line 301 of file cached_ik_kinematics_plugin.h.

initializeImpl() [3/4]

template<class KinematicsPlugin >

template<class T = KinematicsPlugin>

std::enable_if<!HasRobotDescApi<T>::value, bool>::type cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >::initializeImpl ( const std::string &  , const std::string &  , const std::string &  , const std::string &  , double    )

inlineprivate

Definition at line 340 of file cached_ik_kinematics_plugin.h.

initializeImpl() [4/4]

template<class KinematicsPlugin >

template<class T = KinematicsPlugin>

std::enable_if<HasRobotDescApi<T>::value, bool>::type cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >::initializeImpl ( const std::string &  robot_description, const std::string &  group_name, const std::string &  base_frame, const std::string &  tip_frame, double  search_discretization  )

inlineprivate

Definition at line 328 of file cached_ik_kinematics_plugin.h.

searchPositionIK() [1/4]

template<class KinematicsPlugin >

bool cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >::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 KinematicsQueryOptions &  options = KinematicsQueryOptions()  ) const

override

Definition at line 226 of file cached_ik_kinematics_plugin-inl.h.

searchPositionIK() [2/4]

template<class KinematicsPlugin >

bool cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >::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 KinematicsQueryOptions &  options = KinematicsQueryOptions()  ) const

override

Definition at line 180 of file cached_ik_kinematics_plugin-inl.h.

searchPositionIK() [3/4]

template<class KinematicsPlugin >

bool cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >::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 KinematicsQueryOptions &  options = KinematicsQueryOptions()  ) const

override

Definition at line 202 of file cached_ik_kinematics_plugin-inl.h.

searchPositionIK() [4/4]

template<class KinematicsPlugin >

bool cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >::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 KinematicsQueryOptions &  options = KinematicsQueryOptions()  ) const

override

Definition at line 157 of file cached_ik_kinematics_plugin-inl.h.

Member Data Documentation

cache_

template<class KinematicsPlugin >

IKCache cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >::cache_

private

Definition at line 292 of file cached_ik_kinematics_plugin.h.

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

• cached_ik_kinematics_plugin.h
• cached_ik_kinematics_plugin-inl.h