#include <arm_kinematics_constraint_aware.h>

Public Member Functions
	ArmKinematicsConstraintAware ()
bool	getConstraintAwarePositionIK (kinematics_msgs::GetConstraintAwarePositionIK::Request &request, kinematics_msgs::GetConstraintAwarePositionIK::Response &response)
	This method searches for and returns the closest solution to the initial guess in the first set of solutions it finds.
bool	getFKSolverInfo (kinematics_msgs::GetKinematicSolverInfo::Request &request, kinematics_msgs::GetKinematicSolverInfo::Response &response)
bool	getIKSolverInfo (kinematics_msgs::GetKinematicSolverInfo::Request &request, kinematics_msgs::GetKinematicSolverInfo::Response &response)
bool	getPositionFK (kinematics_msgs::GetPositionFK::Request &request, kinematics_msgs::GetPositionFK::Response &response)
bool	getPositionIK (kinematics_msgs::GetPositionIK::Request &request, kinematics_msgs::GetPositionIK::Response &response)
bool	isActive ()
virtual	~ArmKinematicsConstraintAware ()
Private Member Functions
void	advertiseBaseKinematicsServices ()
void	advertiseConstraintIKService ()
void	collisionCheck (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)
void	contactFound (collision_space::EnvironmentModel::Contact &contact)
	The ccost and display arguments should be bound by the caller. This is a callback function that gets called by the planning environment when a collision is found.
void	initialPoseCheck (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)
bool	isReady (motion_planning_msgs::ArmNavigationErrorCodes &error_code)
void	printStringVec (const std::string &prefix, const std::vector< std::string > &string_vector)
void	sendEndEffectorPose (const planning_models::KinematicState *state, bool valid)
bool	setupCollisionEnvironment (void)
Private Attributes
bool	active_
std::vector < motion_planning_msgs::AllowedContactSpecification >	allowed_contacts_
std::vector< std::string >	arm_links_
kinematics_msgs::KinematicSolverInfo	chain_info_
planning_environment::CollisionModels *	collision_models_
motion_planning_msgs::OrderedCollisionOperations	collision_operations_
motion_planning_msgs::Constraints	constraints_
std::vector< std::string >	default_collision_links_
ros::Publisher	display_trajectory_publisher_
std::vector< std::string >	end_effector_collision_links_
ros::ServiceServer	fk_service_
ros::ServiceServer	fk_solver_info_service_
std::string	group_
ros::ServiceServer	ik_collision_service_
kinematics_msgs::PositionIKRequest	ik_request_
ros::ServiceServer	ik_service_
ros::ServiceServer	ik_solver_info_service_
planning_models::KinematicState *	kinematic_state_
pluginlib::ClassLoader < kinematics::KinematicsBase >	kinematics_loader_
kinematics::KinematicsBase *	kinematics_solver_
std::vector < motion_planning_msgs::LinkPadding >	link_padding_
ros::NodeHandle	node_handle_
planning_environment::PlanningMonitor *	planning_monitor_
urdf::Model	robot_model_
	A model of the robot to see which joints wrap around.
bool	robot_model_initialized_
	Flag that tells us if the robot model was initialized successfully.
ros::NodeHandle	root_handle_
std::string	root_name_
bool	setup_collision_environment_
tf::TransformListener	tf_
bool	use_collision_map_
ros::Publisher	vis_marker_array_publisher_
ros::Publisher	vis_marker_publisher_
bool	visualize_solution_

Detailed Description

Definition at line 68 of file arm_kinematics_constraint_aware.h.

Constructor & Destructor Documentation

arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::ArmKinematicsConstraintAware ( )

Definition at line 50 of file arm_kinematics_constraint_aware.cpp.

virtual arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::~ArmKinematicsConstraintAware ( ) [inline, virtual]

Definition at line 84 of file arm_kinematics_constraint_aware.h.

Member Function Documentation

void arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::advertiseBaseKinematicsServices ( ) [private]

Definition at line 101 of file arm_kinematics_constraint_aware.cpp.

void arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::advertiseConstraintIKService ( ) [private]

Definition at line 109 of file arm_kinematics_constraint_aware.cpp.

void arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::collisionCheck	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_solution,
		int &	error_code
	)		`[private]`

Definition at line 230 of file arm_kinematics_constraint_aware.cpp.

void arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::contactFound ( collision_space::EnvironmentModel::Contact & contact ) [private]

The ccost and display arguments should be bound by the caller. This is a callback function that gets called by the planning environment when a collision is found.

Definition at line 490 of file arm_kinematics_constraint_aware.cpp.

bool arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::getConstraintAwarePositionIK	(	kinematics_msgs::GetConstraintAwarePositionIK::Request &	request,
		kinematics_msgs::GetConstraintAwarePositionIK::Response &	response
	)

This method searches for and returns the closest solution to the initial guess in the first set of solutions it finds.

Returns:: < 0 if no solution is found

Parameters:

q_in	The initial guess for the inverse kinematics solution. The solver uses the joint value q_init(pr2_ik_->free_angle_) as as an input to the inverse kinematics. pr2_ik_->free_angle_ can either be 0 or 2 corresponding to the shoulder pan or shoulder roll angle
p_in	A KDL::Frame representation of the position of the end-effector for which the IK is being solved.
q_out	A std::vector of KDL::JntArray containing all found solutions.
timeout	The amount of time (in seconds) to spend looking for a solution.

Definition at line 140 of file arm_kinematics_constraint_aware.cpp.

bool arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::getFKSolverInfo	(	kinematics_msgs::GetKinematicSolverInfo::Request &	request,
		kinematics_msgs::GetKinematicSolverInfo::Response &	response
	)

Definition at line 606 of file arm_kinematics_constraint_aware.cpp.

bool arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::getIKSolverInfo	(	kinematics_msgs::GetKinematicSolverInfo::Request &	request,
		kinematics_msgs::GetKinematicSolverInfo::Response &	response
	)

Definition at line 594 of file arm_kinematics_constraint_aware.cpp.

bool arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::getPositionFK	(	kinematics_msgs::GetPositionFK::Request &	request,
		kinematics_msgs::GetPositionFK::Response &	response
	)

Definition at line 618 of file arm_kinematics_constraint_aware.cpp.

bool arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::getPositionIK	(	kinematics_msgs::GetPositionIK::Request &	request,
		kinematics_msgs::GetPositionIK::Response &	response
	)

Definition at line 551 of file arm_kinematics_constraint_aware.cpp.

void arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::initialPoseCheck	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_solution,
		int &	error_code
	)		`[private]`

Definition at line 257 of file arm_kinematics_constraint_aware.cpp.

bool arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::isActive ( ) [inline]

Definition at line 117 of file arm_kinematics_constraint_aware.h.

bool arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::isReady ( motion_planning_msgs::ArmNavigationErrorCodes & error_code ) [private]

Definition at line 115 of file arm_kinematics_constraint_aware.cpp.

void arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::printStringVec	(	const std::string &	prefix,
		const std::vector< std::string > &	string_vector
	)		`[private]`

Definition at line 390 of file arm_kinematics_constraint_aware.cpp.

void arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::sendEndEffectorPose	(	const planning_models::KinematicState *	state,
		bool	valid
	)		`[private]`