Helper class for loading kinematics solvers. More...

#include <kinematics_plugin_loader.h>

Classes
class	KinematicsLoaderImpl
Public Member Functions
const std::map< std::string, unsigned int > &	getIKAttempts () const
	Get a map from group name to default IK attempts.
const std::map< std::string, double > &	getIKTimeout () const
	Get a map from group name to default IK timeout.
const std::vector< std::string > &	getKnownGroups () const
	Get the groups for which the function pointer returned by getLoaderFunction() can allocate a solver.
robot_model::SolverAllocatorFn	getLoaderFunction ()
	Get a function pointer that allocates and initializes a kinematics solver. If not previously called, this function reads the SRDF and calls the variant below.
robot_model::SolverAllocatorFn	getLoaderFunction (const boost::shared_ptr< srdf::Model > &srdf_model)
	Get a function pointer that allocates and initializes a kinematics solver. If not previously called, this function reads ROS parameters for the groups defined in the SRDF.
	KinematicsPluginLoader (const std::string &robot_description="robot_description", double default_search_resolution=0.0)
	Load the kinematics solvers based on information on the ROS parameter server. Take as optional argument the name of the ROS parameter under which the robot description can be found. This is passed to the kinematics solver initialization as well as used to read the SRDF document when needed.
	KinematicsPluginLoader (const std::string &solver_plugin, double solve_timeout, unsigned int ik_attempts, const std::string &robot_description="robot_description", double default_search_resolution=0.0)
	Use a default kinematics solver (solver_plugin) for all the groups in the robot model. The default timeout for the solver is solve_timeout and the default number of IK attempts is ik_attempts. Take as optional argument the name of the ROS parameter under which the robot description can be found. This is passed to the kinematics solver initialization as well as used to read the SRDF document when needed.
void	status () const
Private Attributes
unsigned int	default_ik_attempts_
double	default_search_resolution_
std::string	default_solver_plugin_
double	default_solver_timeout_
std::vector< std::string >	groups_
std::map< std::string, unsigned int >	ik_attempts_
std::map< std::string, double >	ik_timeout_
boost::shared_ptr < KinematicsLoaderImpl >	loader_
std::string	robot_description_

Detailed Description

Helper class for loading kinematics solvers.

Definition at line 49 of file kinematics_plugin_loader.h.

Constructor & Destructor Documentation

kinematics_plugin_loader::KinematicsPluginLoader::KinematicsPluginLoader	(	const std::string &	robot_description = `"robot_description"`,
		double	default_search_resolution = `0.0`
	)		`[inline]`

Load the kinematics solvers based on information on the ROS parameter server. Take as optional argument the name of the ROS parameter under which the robot description can be found. This is passed to the kinematics solver initialization as well as used to read the SRDF document when needed.

Definition at line 58 of file kinematics_plugin_loader.h.

kinematics_plugin_loader::KinematicsPluginLoader::KinematicsPluginLoader	(	const std::string &	solver_plugin,
		double	solve_timeout,
		unsigned int	ik_attempts,
		const std::string &	robot_description = `"robot_description"`,
		double	default_search_resolution = `0.0`
	)		`[inline]`

Use a default kinematics solver (solver_plugin) for all the groups in the robot model. The default timeout for the solver is solve_timeout and the default number of IK attempts is ik_attempts. Take as optional argument the name of the ROS parameter under which the robot description can be found. This is passed to the kinematics solver initialization as well as used to read the SRDF document when needed.

Definition at line 72 of file kinematics_plugin_loader.h.

Member Function Documentation

const std::map<std::string, unsigned int>& kinematics_plugin_loader::KinematicsPluginLoader::getIKAttempts ( ) const [inline]

Get a map from group name to default IK attempts.

Definition at line 102 of file kinematics_plugin_loader.h.

const std::map<std::string, double>& kinematics_plugin_loader::KinematicsPluginLoader::getIKTimeout ( ) const [inline]

Get a map from group name to default IK timeout.

Definition at line 96 of file kinematics_plugin_loader.h.

const std::vector<std::string>& kinematics_plugin_loader::KinematicsPluginLoader::getKnownGroups ( ) const [inline]

Get the groups for which the function pointer returned by getLoaderFunction() can allocate a solver.

Definition at line 90 of file kinematics_plugin_loader.h.

robot_model::SolverAllocatorFn kinematics_plugin_loader::KinematicsPluginLoader::getLoaderFunction ( )

Get a function pointer that allocates and initializes a kinematics solver. If not previously called, this function reads the SRDF and calls the variant below.

Definition at line 191 of file kinematics_plugin_loader.cpp.

robot_model::SolverAllocatorFn kinematics_plugin_loader::KinematicsPluginLoader::getLoaderFunction ( const boost::shared_ptr< srdf::Model > & srdf_model )

Get a function pointer that allocates and initializes a kinematics solver. If not previously called, this function reads ROS parameters for the groups defined in the SRDF.

Definition at line 204 of file kinematics_plugin_loader.cpp.

void kinematics_plugin_loader::KinematicsPluginLoader::status ( ) const

Definition at line 183 of file kinematics_plugin_loader.cpp.