Specific implementation of kinematics using ROS service calls to communicate with external IK solvers. This version can be used with any robot. Supports non-chain kinematic groups. More...

#include <srv_kinematics_plugin.h>

Inheritance diagram for srv_kinematics_plugin::SrvKinematicsPlugin:

[legend]

Public Member Functions
const std::vector< std::string > &	getJointNames () const override
	Return all the joint names in the order they are used internally. More...

const std::vector< std::string > &	getLinkNames () const override
	Return all the link names in the order they are represented internally. More...

bool	getPositionFK (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::Pose > &poses) const override

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 kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const override

const std::vector< std::string > &	getVariableNames () const
	Return all the variable names in the order they are represented internally. More...

bool	initialize (const moveit::core::RobotModel &robot_model, const std::string &group_name, const std::string &base_name, const std::vector< std::string > &tip_frames, 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 kinematics::KinematicsQueryOptions &options=kinematics::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 kinematics::KinematicsQueryOptions &options=kinematics::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 kinematics::KinematicsQueryOptions &options=kinematics::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 kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const 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 kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions(), const moveit::core::RobotState *context_state=nullptr) const override

	SrvKinematicsPlugin ()
	Default constructor. More...

Public Member Functions inherited from kinematics::KinematicsBase
virtual const std::string &	getBaseFrame () const

double	getDefaultTimeout () const

virtual const std::string &	getGroupName () const

virtual bool	getPositionIK (const std::vector< geometry_msgs::Pose > &ik_poses, const std::vector< double > &ik_seed_state, std::vector< std::vector< double > > &solutions, KinematicsResult &result, const kinematics::KinematicsQueryOptions &options) const

virtual void	getRedundantJoints (std::vector< unsigned int > &redundant_joint_indices) const

double	getSearchDiscretization (int joint_index=0) const

std::vector< DiscretizationMethod >	getSupportedDiscretizationMethods () const

virtual const std::string &	getTipFrame () const

virtual const std::vector< std::string > &	getTipFrames () const

virtual 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)

virtual 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)

	KinematicsBase ()

void	setDefaultTimeout (double timeout)

bool	setRedundantJoints (const std::vector< std::string > &redundant_joint_names)

void	setSearchDiscretization (const std::map< int, double > &discretization)

void	setSearchDiscretization (double sd)

virtual void	setValues (const std::string &robot_description, const std::string &group_name, const std::string &base_frame, const std::string &tip_frame, double search_discretization)

virtual void	setValues (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)

virtual bool	supportsGroup (const moveit::core::JointModelGroup jmg, std::string error_text_out=nullptr) const

virtual	~KinematicsBase ()

Protected Member Functions
bool	setRedundantJoints (const std::vector< unsigned int > &redundant_joint_indices) override

Protected Member Functions inherited from kinematics::KinematicsBase
bool	lookupParam (const std::string &param, T &val, const T &default_val) const

void	storeValues (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)

Private Member Functions
int	getJointIndex (const std::string &name) const

bool	isRedundantJoint (unsigned int index) const

bool	timedOut (const ros::WallTime &start_time, double duration) const

Private Attributes
bool	active_

unsigned int	dimension_

moveit_msgs::KinematicSolverInfo	ik_group_info_

std::shared_ptr< ros::ServiceClient >	ik_service_client_

const moveit::core::JointModelGroup *	joint_model_group_

int	num_possible_redundant_joints_

moveit::core::RobotStatePtr	robot_state_

Additional Inherited Members
Public Types inherited from kinematics::KinematicsBase
typedef boost::function< void(const geometry_msgs::Pose &, const std::vector< double > &, moveit_msgs::MoveItErrorCodes &)>	IKCallbackFn

Static Public Attributes inherited from kinematics::KinematicsBase
static const MOVEIT_KINEMATICS_BASE_EXPORT double	DEFAULT_SEARCH_DISCRETIZATION

static const MOVEIT_KINEMATICS_BASE_EXPORT double	DEFAULT_TIMEOUT

Protected Attributes inherited from kinematics::KinematicsBase
std::string	base_frame_

double	default_timeout_

std::string	group_name_

std::map< int, double >	redundant_joint_discretization_

std::vector< unsigned int >	redundant_joint_indices_

std::string	robot_description_

moveit::core::RobotModelConstPtr	robot_model_

double	search_discretization_

std::vector< DiscretizationMethod >	supported_methods_

std::string	tip_frame_

std::vector< std::string >	tip_frames_

Detailed Description

Specific implementation of kinematics using ROS service calls to communicate with external IK solvers. This version can be used with any robot. Supports non-chain kinematic groups.

Definition at line 97 of file srv_kinematics_plugin.h.

Constructor & Destructor Documentation

◆ SrvKinematicsPlugin()

srv_kinematics_plugin::SrvKinematicsPlugin::SrvKinematicsPlugin ( )

Default constructor.

Definition at line 83 of file srv_kinematics_plugin.cpp.

Member Function Documentation

◆ getJointIndex()

int srv_kinematics_plugin::SrvKinematicsPlugin::getJointIndex ( const std::string & name ) const

private

Definition at line 187 of file srv_kinematics_plugin.cpp.

◆ getJointNames()

const std::vector< std::string > & srv_kinematics_plugin::SrvKinematicsPlugin::getJointNames ( ) const

overridevirtual

Return all the joint names in the order they are used internally.

Implements kinematics::KinematicsBase.

Definition at line 418 of file srv_kinematics_plugin.cpp.

◆ getLinkNames()

const std::vector< std::string > & srv_kinematics_plugin::SrvKinematicsPlugin::getLinkNames ( ) const

overridevirtual

Return all the link names in the order they are represented internally.

Implements kinematics::KinematicsBase.

Definition at line 423 of file srv_kinematics_plugin.cpp.

◆ getPositionFK()

bool srv_kinematics_plugin::SrvKinematicsPlugin::getPositionFK	(	const std::vector< std::string > &	link_names,
		const std::vector< double > &	joint_angles,
		std::vector< geometry_msgs::Pose > &	poses
	)		const

overridevirtual

Implements kinematics::KinematicsBase.

Definition at line 397 of file srv_kinematics_plugin.cpp.

◆ getPositionIK()

bool srv_kinematics_plugin::SrvKinematicsPlugin::getPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution,
		moveit_msgs::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const

overridevirtual

Implements kinematics::KinematicsBase.

Definition at line 202 of file srv_kinematics_plugin.cpp.

◆ getVariableNames()

const std::vector< std::string > & srv_kinematics_plugin::SrvKinematicsPlugin::getVariableNames ( ) const

Return all the variable names in the order they are represented internally.

Definition at line 428 of file srv_kinematics_plugin.cpp.

◆ initialize()

bool srv_kinematics_plugin::SrvKinematicsPlugin::initialize	(	const moveit::core::RobotModel &	robot_model,
		const std::string &	group_name,
		const std::string &	base_name,
		const std::vector< std::string > &	tip_frames,
		double	search_discretization
	)

overridevirtual

Reimplemented from kinematics::KinematicsBase.

Definition at line 87 of file srv_kinematics_plugin.cpp.

◆ isRedundantJoint()

bool srv_kinematics_plugin::SrvKinematicsPlugin::isRedundantJoint ( unsigned int index ) const

private

Definition at line 179 of file srv_kinematics_plugin.cpp.

◆ searchPositionIK() [1/5]

bool srv_kinematics_plugin::SrvKinematicsPlugin::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 kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const

overridevirtual

Implements kinematics::KinematicsBase.

Definition at line 243 of file srv_kinematics_plugin.cpp.

◆ searchPositionIK() [2/5]

bool srv_kinematics_plugin::SrvKinematicsPlugin::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 kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const

overridevirtual

Implements kinematics::KinematicsBase.

Definition at line 223 of file srv_kinematics_plugin.cpp.

◆ searchPositionIK() [3/5]

bool srv_kinematics_plugin::SrvKinematicsPlugin::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 kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const

overridevirtual

Implements kinematics::KinematicsBase.

Definition at line 232 of file srv_kinematics_plugin.cpp.

◆ searchPositionIK() [4/5]

bool srv_kinematics_plugin::SrvKinematicsPlugin::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 kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const

overridevirtual

Implements kinematics::KinematicsBase.

Definition at line 212 of file srv_kinematics_plugin.cpp.

◆ searchPositionIK() [5/5]

bool srv_kinematics_plugin::SrvKinematicsPlugin::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 kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`,
		const moveit::core::RobotState *	context_state = `nullptr`
	)		const

overridevirtual

Reimplemented from kinematics::KinematicsBase.

Definition at line 257 of file srv_kinematics_plugin.cpp.

◆ setRedundantJoints()

bool srv_kinematics_plugin::SrvKinematicsPlugin::setRedundantJoints ( const std::vector< unsigned int > & redundant_joint_indices )

overrideprotectedvirtual

Reimplemented from kinematics::KinematicsBase.

Definition at line 163 of file srv_kinematics_plugin.cpp.

◆ timedOut()

bool srv_kinematics_plugin::SrvKinematicsPlugin::timedOut	(	const ros::WallTime &	start_time,
		double	duration
	)		const

private

Definition at line 197 of file srv_kinematics_plugin.cpp.

Member Data Documentation

◆ active_

bool srv_kinematics_plugin::SrvKinematicsPlugin::active_

private

Definition at line 202 of file srv_kinematics_plugin.h.

◆ dimension_

unsigned int srv_kinematics_plugin::SrvKinematicsPlugin::dimension_

private

Stores information for the inverse kinematics solver

Definition at line 206 of file srv_kinematics_plugin.h.

◆ ik_group_info_

moveit_msgs::KinematicSolverInfo srv_kinematics_plugin::SrvKinematicsPlugin::ik_group_info_

private

Internal variable that indicates whether solvers are configured and ready

Definition at line 204 of file srv_kinematics_plugin.h.

◆ ik_service_client_

std::shared_ptr<ros::ServiceClient> srv_kinematics_plugin::SrvKinematicsPlugin::ik_service_client_

private

Definition at line 214 of file srv_kinematics_plugin.h.

◆ joint_model_group_

const moveit::core::JointModelGroup* srv_kinematics_plugin::SrvKinematicsPlugin::joint_model_group_

private

Dimension of the group

Definition at line 208 of file srv_kinematics_plugin.h.

◆ num_possible_redundant_joints_

int srv_kinematics_plugin::SrvKinematicsPlugin::num_possible_redundant_joints_

private

Definition at line 212 of file srv_kinematics_plugin.h.

◆ robot_state_

moveit::core::RobotStatePtr srv_kinematics_plugin::SrvKinematicsPlugin::robot_state_

private

Definition at line 210 of file srv_kinematics_plugin.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SrvKinematicsPlugin()

Member Function Documentation

◆ getJointIndex()

◆ getJointNames()

◆ getLinkNames()

◆ getPositionFK()

◆ getPositionIK()

◆ getVariableNames()

◆ initialize()

◆ isRedundantJoint()

◆ searchPositionIK() [1/5]

◆ searchPositionIK() [2/5]

◆ searchPositionIK() [3/5]

◆ searchPositionIK() [4/5]

◆ searchPositionIK() [5/5]

◆ setRedundantJoints()

◆ timedOut()

Member Data Documentation

◆ active_

◆ dimension_

◆ ik_group_info_

◆ ik_service_client_

◆ joint_model_group_

◆ num_possible_redundant_joints_

◆ robot_state_