Public Member Functions | Private Attributes
ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin Class Reference
Inheritance diagram for ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin:
Inheritance graph
[legend]

List of all members.

Public Member Functions

void fillFreeParams (int count, int *array)
bool getCount (int &count, const int &max_count, const int &min_count)
const std::vector< std::string > & getJointNames () const
const std::vector< std::string > & getLinkNames () const
bool getPositionFK (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::Pose > &poses)
bool getPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, std::vector< double > &solution, int &error_code)
 IKFastKinematicsPlugin ()
bool initialize (const std::string &group_name, const std::string &base_name, const std::string &tip_name, const double &search_discretization)
bool searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, const double &timeout, std::vector< double > &solution, int &error_code)
bool searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, const double &timeout, const unsigned int &redundancy, const double &consistency_limit, std::vector< double > &solution, int &error_code)
bool searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, const double &timeout, std::vector< double > &solution, const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &desired_pose_callback, const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &solution_callback, int &error_code)
bool searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, const double &timeout, const unsigned int &redundancy, const double &consistency_limit, std::vector< double > &solution, const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &desired_pose_callback, const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &solution_callback, int &error_code)
 ~IKFastKinematicsPlugin ()

Private Attributes

void(* fk )(const IKReal *j, IKReal *eetrans, IKReal *eerot)
std::vector< int > free_params_
arm_kinematics_constraint_aware::ik_solver_base * ik_solver_
std::vector< booljoint_has_limits_vector_
std::vector< double > joint_max_vector_
std::vector< double > joint_min_vector_
std::vector< std::string > joint_names_
std::vector< std::string > link_names_
size_t num_joints_

Detailed Description

Definition at line 12 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.


Constructor & Destructor Documentation

Definition at line 26 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

Definition at line 27 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.


Member Function Documentation

void ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::fillFreeParams ( int  count,
int *  array 
) [inline]

Definition at line 29 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

bool ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::getCount ( int &  count,
const int &  max_count,
const int &  min_count 
) [inline]

Definition at line 126 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

Definition at line 634 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

Definition at line 635 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

bool ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::getPositionFK ( const std::vector< std::string > &  link_names,
const std::vector< double > &  joint_angles,
std::vector< geometry_msgs::Pose > &  poses 
) [inline, virtual]
bool ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::getPositionIK ( const geometry_msgs::Pose ik_pose,
const std::vector< double > &  ik_seed_state,
std::vector< double > &  solution,
int &  error_code 
) [inline, virtual]
bool ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::initialize ( const std::string &  group_name,
const std::string &  base_name,
const std::string &  tip_name,
const double &  search_discretization 
) [inline]

Definition at line 31 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

bool ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::searchPositionIK ( const geometry_msgs::Pose ik_pose,
const std::vector< double > &  ik_seed_state,
const double &  timeout,
std::vector< double > &  solution,
int &  error_code 
) [inline, virtual]
bool ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::searchPositionIK ( const geometry_msgs::Pose ik_pose,
const std::vector< double > &  ik_seed_state,
const double &  timeout,
const unsigned int &  redundancy,
const double &  consistency_limit,
std::vector< double > &  solution,
int &  error_code 
) [inline]

Definition at line 292 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

bool ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::searchPositionIK ( const geometry_msgs::Pose ik_pose,
const std::vector< double > &  ik_seed_state,
const double &  timeout,
std::vector< double > &  solution,
const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &  desired_pose_callback,
const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &  solution_callback,
int &  error_code 
) [inline, virtual]
bool ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::searchPositionIK ( const geometry_msgs::Pose ik_pose,
const std::vector< double > &  ik_seed_state,
const double &  timeout,
const unsigned int &  redundancy,
const double &  consistency_limit,
std::vector< double > &  solution,
const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &  desired_pose_callback,
const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &  solution_callback,
int &  error_code 
) [inline]

Definition at line 492 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.


Member Data Documentation

Definition at line 22 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

Definition at line 21 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

arm_kinematics_constraint_aware::ik_solver_base* ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::ik_solver_ [private]

Definition at line 19 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

Definition at line 17 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

Definition at line 16 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

Definition at line 15 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

Definition at line 14 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

Definition at line 18 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.

Definition at line 20 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.


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


ADEPT_VIPER_S650_ikfast_arm_navigation
Author(s): Jorge Nicho
autogenerated on Fri Jan 3 2014 11:05:14