#include <arm_kinematics_solver_constraint_aware.h>

Public Member Functions
	ArmKinematicsSolverConstraintAware (kinematics::KinematicsBase solver, planning_environment::CollisionModels cm, const std::string &group_name)
void	checkForWraparound (const trajectory_msgs::JointTrajectory &joint_trajectory)
bool	findConsistentConstraintAwareSolution (const geometry_msgs::Pose &pose, const arm_navigation_msgs::Constraints &constraints, planning_models::KinematicState *robot_state, sensor_msgs::JointState &solution, arm_navigation_msgs::ArmNavigationErrorCodes &error_code, const unsigned int &redundancy, const double &max_consistency, const bool &do_initial_pose_check=true)
bool	findConstraintAwareSolution (const geometry_msgs::Pose &pose, const arm_navigation_msgs::Constraints &constraints, planning_models::KinematicState *robot_state, sensor_msgs::JointState &solution, arm_navigation_msgs::ArmNavigationErrorCodes &error_code, const bool &do_initial_pose_check=true)
virtual const std::string &	getBaseName () const
const std::vector< std::string > &	getEndEffectorLinks () const
const std::string &	getGroupName () const
const std::vector< std::string > &	getJointNames () const
const std::vector< std::string > &	getLinkNames () const
bool	getPositionFK (const planning_models::KinematicState *robot_state, const std::vector< std::string > &link_names, std::vector< geometry_msgs::Pose > &poses)
bool	getPositionIK (const geometry_msgs::Pose &ik_pose, const planning_models::KinematicState *robot_state, sensor_msgs::JointState &solution, arm_navigation_msgs::ArmNavigationErrorCodes &error_code)
double	getSearchDiscretization () const
const std::string &	getTipName () const
bool	interpolateIKDirectional (const geometry_msgs::Pose &start_pose, const tf::Vector3 &direction, const double &distance, const arm_navigation_msgs::Constraints &constraints, planning_models::KinematicState *robot_state, arm_navigation_msgs::ArmNavigationErrorCodes &error_code, trajectory_msgs::JointTrajectory &traj, const unsigned int &redundancy, const double &max_consistency, const bool &reverse, const bool &premultiply, const unsigned int &num_points, const ros::Duration &total_dur, const bool &do_initial_pose_check)
bool	isActive () const
void	setSearchDiscretization (const double &sd)
	~ArmKinematicsSolverConstraintAware ()
Protected Member Functions
void	collisionCheck (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)
void	initialPoseCheck (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)
Protected Attributes
bool	active_
std::string	base_name_
planning_environment::CollisionModels *	cm_
arm_navigation_msgs::Constraints	constraints_
bool	do_initial_pose_check_
std::vector< std::string >	end_effector_collision_links_
std::string	group_name_
kinematics::KinematicsBase *	kinematics_solver_
planning_models::KinematicState *	state_
std::string	tip_name_

Detailed Description

Definition at line 42 of file arm_kinematics_solver_constraint_aware.h.

Constructor & Destructor Documentation

arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware::ArmKinematicsSolverConstraintAware	(	kinematics::KinematicsBase *	solver,
		planning_environment::CollisionModels *	cm,
		const std::string &	group_name
	)

Definition at line 40 of file arm_kinematics_solver_constraint_aware.cpp.

arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware::~ArmKinematicsSolverConstraintAware ( ) [inline]

Definition at line 50 of file arm_kinematics_solver_constraint_aware.h.

Member Function Documentation

void arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware::checkForWraparound ( const trajectory_msgs::JointTrajectory & joint_trajectory )

Definition at line 369 of file arm_kinematics_solver_constraint_aware.cpp.

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

Definition at line 211 of file arm_kinematics_solver_constraint_aware.cpp.

bool arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware::findConsistentConstraintAwareSolution	(	const geometry_msgs::Pose &	pose,
		const arm_navigation_msgs::Constraints &	constraints,
		planning_models::KinematicState *	robot_state,
		sensor_msgs::JointState &	solution,
		arm_navigation_msgs::ArmNavigationErrorCodes &	error_code,
		const unsigned int &	redundancy,
		const double &	max_consistency,
		const bool &	do_initial_pose_check = `true`
	)

Definition at line 166 of file arm_kinematics_solver_constraint_aware.cpp.

bool arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware::findConstraintAwareSolution	(	const geometry_msgs::Pose &	pose,
		const arm_navigation_msgs::Constraints &	constraints,
		planning_models::KinematicState *	robot_state,
		sensor_msgs::JointState &	solution,
		arm_navigation_msgs::ArmNavigationErrorCodes &	error_code,
		const bool &	do_initial_pose_check = `true`
	)

Definition at line 126 of file arm_kinematics_solver_constraint_aware.cpp.

virtual const std::string& arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware::getBaseName ( ) const [inline, virtual]

Definition at line 114 of file arm_kinematics_solver_constraint_aware.h.

const std::vector<std::string>& arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware::getEndEffectorLinks ( ) const [inline]

Definition at line 130 of file arm_kinematics_solver_constraint_aware.h.

const std::string& arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware::getGroupName ( ) const [inline]

Definition at line 110 of file arm_kinematics_solver_constraint_aware.h.

const std::vector<std::string>& arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware::getJointNames ( ) const [inline]

Definition at line 122 of file arm_kinematics_solver_constraint_aware.h.

const std::vector<std::string>& arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware::getLinkNames ( ) const [inline]

Definition at line 126 of file arm_kinematics_solver_constraint_aware.h.

bool arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware::getPositionFK	(	const planning_models::KinematicState *	robot_state,
		const std::vector< std::string > &	link_names,
		std::vector< geometry_msgs::Pose > &	poses
	)

Definition at line 83 of file arm_kinematics_solver_constraint_aware.cpp.

bool arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware::getPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const planning_models::KinematicState *	robot_state,
		sensor_msgs::JointState &	solution,
		arm_navigation_msgs::ArmNavigationErrorCodes &	error_code
	)

Definition at line 96 of file arm_kinematics_solver_constraint_aware.cpp.

double arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware::getSearchDiscretization ( ) const [inline]

Definition at line 102 of file arm_kinematics_solver_constraint_aware.h.

const std::string& arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware::getTipName ( ) const [inline]

Definition at line 118 of file arm_kinematics_solver_constraint_aware.h.

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

Definition at line 230 of file arm_kinematics_solver_constraint_aware.cpp.

bool arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware::interpolateIKDirectional	(	const geometry_msgs::Pose &	start_pose,
		const tf::Vector3 &	direction,
		const double &	distance,
		const arm_navigation_msgs::Constraints &	constraints,
		planning_models::KinematicState *	robot_state,
		arm_navigation_msgs::ArmNavigationErrorCodes &	error_code,
		trajectory_msgs::JointTrajectory &	traj,
		const unsigned int &	redundancy,
		const double &	max_consistency,
		const bool &	reverse,
		const bool &	premultiply,
		const unsigned int &	num_points,
		const ros::Duration &	total_dur,
		const bool &	do_initial_pose_check
	)