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interpolated_ik_motion_planner Namespace Reference

Server to provide interpolated IK motion plans relevant params: num_steps: the number of steps to use when interpolating including start and finish (0 means use pos_spacing and rot_spacing to calculate the number of steps, anything ==1 or <0 will become 2, start and finish) consistent_angle: the max angle distance (in any joint) before we declare that the path is inconsistent collision_check_resolution: how many steps between collision checks (0 or 1 is check every step; 2 is every other, etc.) steps_before_abort: the number of steps in the plan (starting from the end and going backwards) that can be invalid due to collisions or inconsistency before aborting (0 is abort as soon as you find one, 1 is allow one and still continue, -1 or >=num_steps to never abort early) pos_spacing: the max translation (m) to move the wrist between waypoints (only used if num_steps is 0) rot_spacing: the max rotation (rad) to move the wrist between waypoints (only used if num_steps is 0) collision_aware: if this is 0, collisions won't be checked for (returns non-collision aware IK solutions) start_from_end: if this is 1, the planner searches for an IK solution for the end first, then works backwards from there max_joint_vels: a list of maximum joint velocities to use when computing times and velocities for the joint trajectory (defaults to [.1]*7 if left empty) max_joint_accs: a list of maximum accelerations to use when computing times and velocities for the joint trajectory (defaults to [.25]*7 if left empty) More...

Namespaces

namespace  ik_utilities
namespace  srv

Classes

class  InterpolatedIKService
struct  SetInterpolatedIKMotionPlanParams
struct  SetInterpolatedIKMotionPlanParamsRequest_
struct  SetInterpolatedIKMotionPlanParamsResponse_

Typedefs

typedef
::interpolated_ik_motion_planner::SetInterpolatedIKMotionPlanParamsRequest_
< std::allocator< void > > 
SetInterpolatedIKMotionPlanParamsRequest
typedef boost::shared_ptr
< ::interpolated_ik_motion_planner::SetInterpolatedIKMotionPlanParamsRequest
const > 
SetInterpolatedIKMotionPlanParamsRequestConstPtr
typedef boost::shared_ptr
< ::interpolated_ik_motion_planner::SetInterpolatedIKMotionPlanParamsRequest
SetInterpolatedIKMotionPlanParamsRequestPtr
typedef
::interpolated_ik_motion_planner::SetInterpolatedIKMotionPlanParamsResponse_
< std::allocator< void > > 
SetInterpolatedIKMotionPlanParamsResponse
typedef boost::shared_ptr
< ::interpolated_ik_motion_planner::SetInterpolatedIKMotionPlanParamsResponse
const > 
SetInterpolatedIKMotionPlanParamsResponseConstPtr
typedef boost::shared_ptr
< ::interpolated_ik_motion_planner::SetInterpolatedIKMotionPlanParamsResponse
SetInterpolatedIKMotionPlanParamsResponsePtr

Variables

tuple interpolated_ik_service = InterpolatedIKService(which_arm)
 which_arm = None

Detailed Description

Server to provide interpolated IK motion plans relevant params: num_steps: the number of steps to use when interpolating including start and finish (0 means use pos_spacing and rot_spacing to calculate the number of steps, anything ==1 or <0 will become 2, start and finish) consistent_angle: the max angle distance (in any joint) before we declare that the path is inconsistent collision_check_resolution: how many steps between collision checks (0 or 1 is check every step; 2 is every other, etc.) steps_before_abort: the number of steps in the plan (starting from the end and going backwards) that can be invalid due to collisions or inconsistency before aborting (0 is abort as soon as you find one, 1 is allow one and still continue, -1 or >=num_steps to never abort early) pos_spacing: the max translation (m) to move the wrist between waypoints (only used if num_steps is 0) rot_spacing: the max rotation (rad) to move the wrist between waypoints (only used if num_steps is 0) collision_aware: if this is 0, collisions won't be checked for (returns non-collision aware IK solutions) start_from_end: if this is 1, the planner searches for an IK solution for the end first, then works backwards from there max_joint_vels: a list of maximum joint velocities to use when computing times and velocities for the joint trajectory (defaults to [.1]*7 if left empty) max_joint_accs: a list of maximum accelerations to use when computing times and velocities for the joint trajectory (defaults to [.25]*7 if left empty)


Typedef Documentation

Definition at line 91 of file SetInterpolatedIKMotionPlanParams.h.

Definition at line 94 of file SetInterpolatedIKMotionPlanParams.h.

Definition at line 93 of file SetInterpolatedIKMotionPlanParams.h.

Definition at line 114 of file SetInterpolatedIKMotionPlanParams.h.

Definition at line 117 of file SetInterpolatedIKMotionPlanParams.h.

Definition at line 116 of file SetInterpolatedIKMotionPlanParams.h.


Variable Documentation

Definition at line 356 of file interpolated_ik_motion_planner.py.

Definition at line 353 of file interpolated_ik_motion_planner.py.



interpolated_ik_motion_planner
Author(s): Kaijen Hsiao
autogenerated on Thu Dec 12 2013 11:08:26