#include <cached_ik_kinematics_plugin.h>

Inheritance diagram for cached_ik_kinematics_plugin::CachedMultiTipIKKinematicsPlugin< KinematicsPlugin >:

Public Types
using	IKCallbackFn = kinematics::KinematicsBase::IKCallbackFn

using	IKEntry = IKCache::IKEntry

using	KinematicsQueryOptions = kinematics::KinematicsQueryOptions

using	Pose = IKCache::Pose

Public Types inherited from cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >
using	IKCallbackFn = kinematics::KinematicsBase::IKCallbackFn

using	IKEntry = IKCache::IKEntry

using	KinematicsQueryOptions = kinematics::KinematicsQueryOptions

using	Pose = IKCache::Pose

Public Member Functions
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::vector< std::string > &tip_frames, double search_discretization) override

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 KinematicsQueryOptions &options=KinematicsQueryOptions(), const moveit::core::RobotState *context_state=nullptr) const override

Public Member Functions inherited from cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >
	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

Detailed Description

template<class KinematicsPlugin>
class cached_ik_kinematics_plugin::CachedMultiTipIKKinematicsPlugin< KinematicsPlugin >

Caching wrapper for IK solvers that implement the multi-tip API.

Most solvers don't implement this, so the CachedIKKinematicsPlugin base class simply doesn't wrap the relevant methods and the implementation in the abstract base class will be called. Ideally, the two cache wrapper classes would be combined, but it's tricky to call a method in kinematics::KinematicsBase or KinematicsPlugin depending on whether KinematicsPlugin has overridden that method or not (although it can be done with some template meta-programming).

Definition at line 359 of file cached_ik_kinematics_plugin.h.