ikfast_plugin.cpp File Reference

#include <ros/ros.h>
#include <moveit/kinematics_base/kinematics_base.h>
#include <tf_conversions/tf_kdl.h>
#include "ikfast.h"
#include <moveit_msgs/GetKinematicSolverInfo.h>
#include <moveit_msgs/MoveItErrorCodes.h>
#include <urdf/model.h>
#include <pluginlib/class_list_macros.h>

Include dependency graph for ikfast_plugin.cpp:

Go to the source code of this file.

Classes
class	IKFAST_NAMESPACE::IKFastPlugin
class	IkSolutionListFiltered
struct	JointSpaceStepper
struct	Stepper
Namespaces
namespace	IKFAST_NAMESPACE
Defines
#define	ADD_IKFAST_PLUGIN(name)   ADD_TYPED_PLUGIN(IKFast_, name)
#define	ADD_TYPED_PLUGIN(type, name)   PLUGINLIB_DECLARE_CLASS(cob_kinematics, type##name, IKFAST_NAMESPACE::IKFastPlugin, kinematics::KinematicsBase)
#define	IKFAST_HAS_LIBRARY
	IKfast ROS kinematics plug-in that integrates auto-generated analytical IK solvers.
#define	IKFAST_NO_MAIN
Functions
template<class A1 , class A2 >
std::ostream &	operator<< (std::ostream &s, std::vector< A1, A2 > const &vec)
void	print_frame (const char *str, const double *trans, const double *rot)
void	setConsistencyLimit (std::vector< std::pair< double, double > > &min_max, const std::vector< double > &seed, const std::vector< double > &consistency_limits)

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Define Documentation

#define ADD_IKFAST_PLUGIN

(

name

)

ADD_TYPED_PLUGIN(IKFast_, name)

Definition at line 551 of file ikfast_plugin.cpp.

#define ADD_TYPED_PLUGIN	(		type,
			name
	)		PLUGINLIB_DECLARE_CLASS(cob_kinematics, type##name, IKFAST_NAMESPACE::IKFastPlugin, kinematics::KinematicsBase)

Definition at line 550 of file ikfast_plugin.cpp.

#define IKFAST_HAS_LIBRARY

IKfast ROS kinematics plug-in that integrates auto-generated analytical IK solvers.

Note:

Copyright (c) 2012
Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)

ROS stack name: cob_manipulation

ROS package name: cob_kinematics

Author:

Author: Mathias Lüdtke

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

• Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
  
• Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
  
• Neither the name of the Fraunhofer Institute for Manufacturing Engineering and Automation (IPA) nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
  

This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License LGPL as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License LGPL for more details.

You should have received a copy of the GNU Lesser General Public License LGPL along with this program. If not, see <http://www.gnu.org/licenses/>.

Definition at line 58 of file ikfast_plugin.cpp.

#define IKFAST_NO_MAIN

Definition at line 59 of file ikfast_plugin.cpp.

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Function Documentation

template<class A1 , class A2 >

std::ostream& operator<<	(	std::ostream &	s,
		std::vector< A1, A2 > const &	vec
	)

Definition at line 154 of file ikfast_plugin.cpp.

void print_frame	(	const char *	str,
		const double *	trans,
		const double *	rot
	)

Definition at line 66 of file ikfast_plugin.cpp.

void setConsistencyLimit	(	std::vector< std::pair< double, double > > &	min_max,
		const std::vector< double > &	seed,
		const std::vector< double > &	consistency_limits
	)

Definition at line 69 of file ikfast_plugin.cpp.