#include <reem_arm_kinematics_plugin.h>

Inheritance diagram for reem_kinematics_constraint_aware::ReemKinematicsPlugin:

Public Member Functions
std::string	getBaseFrame ()
	Return the frame in which the kinematics is operating.
const std::vector< std::string > &	getJointNames () const
	Return all the joint names in the order they are used internally.
const std::vector< std::string > &	getLinkNames () const
	Return all the link names in the order they are represented internally.
bool	getPositionFK (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::Pose > &poses)
	Given a set of joint angles and a set of links, compute their pose.
bool	getPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, std::vector< double > &solution, int &error_code)
	Given a desired pose of the end-effector, compute the joint angles to reach it.
bool	getPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, const std::vector< double > &posture, std::vector< double > &solution, int &error_code)
	Given a desired pose of the end-effector, compute the joint angles to reach it.
std::string	getToolFrame ()
	Return the links for which kinematics can be computed.
virtual bool	initialize (const std::string &group_name, const std::string &base_name, const std::string &tip_name, const double &search_discretization=.01)
	Initialization function for the kinematics.
bool	isActive ()
	Specifies if the node is active or not.
	ReemKinematicsPlugin ()
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)
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).
virtual 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)
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).
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)
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).
virtual 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)
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines). The consistency_limit specifies that only certain redundancy positions around those specified in the seed state are admissible and need to be searched.
Protected Member Functions
bool	checkConsistency (const KDL::JntArray &seed_state, const unsigned int &redundancy, const double &consistency_limit, const KDL::JntArray &solution) const
double	genRandomNumber (const double &min, const double &max)
int	getJointIndex (const std::string &name)
int	getKDLSegmentIndex (const std::string &name)
KDL::JntArray	getRandomConfiguration ()
KDL::JntArray	getRandomConfiguration (const KDL::JntArray &seed_state, const unsigned int &redundancy, const double &consistency_limit)
bool	loadModel (const std::string xml)
bool	readJoints (urdf::Model &robot_model)
Protected Attributes
bool	active_
kinematics_msgs::KinematicSolverInfo	chain_info_
std::vector< double >	default_posture_
unsigned int	dimension_
boost::shared_ptr < KDL::ChainFkSolverPos_recursive >	fk_solver_
boost::shared_ptr< IkSolver >	ik_solver_
KDL::JntArray	joint_max_
KDL::JntArray	joint_min_
KDL::Chain	kdl_chain_
int	max_search_iterations_

Detailed Description

Definition at line 77 of file reem_arm_kinematics_plugin.h.

Constructor & Destructor Documentation

reem_kinematics_constraint_aware::ReemKinematicsPlugin::ReemKinematicsPlugin ( )

Definition at line 55 of file reem_arm_kinematics_plugin.cpp.

Member Function Documentation

bool reem_kinematics_constraint_aware::ReemKinematicsPlugin::checkConsistency	(	const KDL::JntArray &	seed_state,
		const unsigned int &	redundancy,
		const double &	consistency_limit,
		const KDL::JntArray &	solution
	)		const `[protected]`

Definition at line 101 of file reem_arm_kinematics_plugin.cpp.

double reem_kinematics_constraint_aware::ReemKinematicsPlugin::genRandomNumber	(	const double &	min,
		const double &	max
	)		`[protected]`

Definition at line 67 of file reem_arm_kinematics_plugin.cpp.

std::string reem_kinematics_constraint_aware::ReemKinematicsPlugin::getBaseFrame ( ) [virtual]

Return the frame in which the kinematics is operating.

Returns:: the string name of the frame in which the kinematics is operating

Implements kinematics::KinematicsBase.

Definition at line 694 of file reem_arm_kinematics_plugin.cpp.

int reem_kinematics_constraint_aware::ReemKinematicsPlugin::getJointIndex ( const std::string & name ) [protected]

Definition at line 300 of file reem_arm_kinematics_plugin.cpp.

const std::vector< std::string > & reem_kinematics_constraint_aware::ReemKinematicsPlugin::getJointNames ( ) const

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

Definition at line 714 of file reem_arm_kinematics_plugin.cpp.

int reem_kinematics_constraint_aware::ReemKinematicsPlugin::getKDLSegmentIndex ( const std::string & name ) [protected]

Definition at line 309 of file reem_arm_kinematics_plugin.cpp.

const std::vector< std::string > & reem_kinematics_constraint_aware::ReemKinematicsPlugin::getLinkNames ( ) const

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

Definition at line 723 of file reem_arm_kinematics_plugin.cpp.

bool reem_kinematics_constraint_aware::ReemKinematicsPlugin::getPositionFK	(	const std::vector< std::string > &	link_names,
		const std::vector< double > &	joint_angles,
		std::vector< geometry_msgs::Pose > &	poses
	)		`[virtual]`

Given a set of joint angles and a set of links, compute their pose.

Parameters:

request	- the request contains the joint angles, set of links for which poses are to be computed and a timeout
response	- the response contains stamped pose information for all the requested links

Returns:: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 655 of file reem_arm_kinematics_plugin.cpp.

bool reem_kinematics_constraint_aware::ReemKinematicsPlugin::getPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution,
		int &	error_code
	)		`[virtual]`

Given a desired pose of the end-effector, compute the joint angles to reach it.

Parameters:

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics

Returns:: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 376 of file reem_arm_kinematics_plugin.cpp.

bool reem_kinematics_constraint_aware::ReemKinematicsPlugin::getPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		const std::vector< double > &	posture,
		std::vector< double > &	solution,
		int &	error_code
	)

Given a desired pose of the end-effector, compute the joint angles to reach it.

Parameters:

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics
posture	Joint posture to be used as secondary task, tht is projected on the nullspace of the primary IK task.

Returns:: True if a valid solution was found, false otherwise

Definition at line 321 of file reem_arm_kinematics_plugin.cpp.

KDL::JntArray reem_kinematics_constraint_aware::ReemKinematicsPlugin::getRandomConfiguration ( ) [protected]

Definition at line 74 of file reem_arm_kinematics_plugin.cpp.

KDL::JntArray reem_kinematics_constraint_aware::ReemKinematicsPlugin::getRandomConfiguration	(	const KDL::JntArray &	seed_state,
		const unsigned int &	redundancy,
		const double &	consistency_limit
	)		`[protected]`

Definition at line 83 of file reem_arm_kinematics_plugin.cpp.

std::string reem_kinematics_constraint_aware::ReemKinematicsPlugin::getToolFrame ( ) [virtual]

Return the links for which kinematics can be computed.

Implements kinematics::KinematicsBase.

Definition at line 704 of file reem_arm_kinematics_plugin.cpp.

bool reem_kinematics_constraint_aware::ReemKinematicsPlugin::initialize	(	const std::string &	group_name,
		const std::string &	base_name,
		const std::string &	tip_name,
		const double &	search_discretization = `.01`
	)		`[virtual]`

Initialization function for the kinematics.

Returns:: True if initialization was successful, false otherwise

Definition at line 120 of file reem_arm_kinematics_plugin.cpp.

bool reem_kinematics_constraint_aware::ReemKinematicsPlugin::isActive ( )

Specifies if the node is active or not.

Returns:: True if the node is active, false otherwise.

Definition at line 60 of file reem_arm_kinematics_plugin.cpp.

bool reem_kinematics_constraint_aware::ReemKinematicsPlugin::loadModel ( const std::string xml ) [protected]

Definition at line 212 of file reem_arm_kinematics_plugin.cpp.

bool reem_kinematics_constraint_aware::ReemKinematicsPlugin::readJoints ( urdf::Model & robot_model ) [protected]

Definition at line 236 of file reem_arm_kinematics_plugin.cpp.

bool reem_kinematics_constraint_aware::ReemKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		const double &	timeout,
		std::vector< double > &	solution,
		int &	error_code
	)		`[virtual]`

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters:

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics

Returns:: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 388 of file reem_arm_kinematics_plugin.cpp.

bool reem_kinematics_constraint_aware::ReemKinematicsPlugin::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
	)		`[virtual]`

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters:

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics
the	distance that the redundancy can be from the current position

Returns:: True if a valid solution was found, false otherwise

Definition at line 448 of file reem_arm_kinematics_plugin.cpp.

bool reem_kinematics_constraint_aware::ReemKinematicsPlugin::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
	)		`[virtual]`

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters:

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics

Returns:: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 512 of file reem_arm_kinematics_plugin.cpp.

bool reem_kinematics_constraint_aware::ReemKinematicsPlugin::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
	)		`[virtual]`

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines). The consistency_limit specifies that only certain redundancy positions around those specified in the seed state are admissible and need to be searched.

Parameters:

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics
consistency_limit	the distance that the redundancy can be from the current position