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Typedefs | |
| typedef std::vector< unsigned > | BijectionVec |
| typedef std::vector< double > | JointConfig |
| typedef std::vector< JointConfig > | JointConfigVec |
| typedef std::pair< unsigned, unsigned > | JointPair |
| typedef std::vector< JointPair > | JointPairVec |
Functions | |
| std::vector< double > | createSeedFromPerms (const std::vector< double > &initial, const std::vector< double > &a_perms, unsigned a_joint_idx, const std::vector< double > &b_perms, unsigned b_joint_idx, unsigned n) |
| std::vector< double > | createValidJointPositions (const moveit::core::JointModel &model, double increment) |
| bool | doFK (moveit::core::RobotState &state, const moveit::core::JointModelGroup *group, const std::string &tool, const JointConfig &joint_pose, Eigen::Affine3d &result) |
| Forward kinematics helper. | |
| bool | doIK (moveit::core::RobotState &state, const moveit::core::JointModelGroup *group, const std::string &group_name, const std::string &tool, const Eigen::Affine3d &pose, const JointConfig &seed, JointConfig &result) |
| Inverse kinematics helper. Returns the solution in the result parameter. May return false if IK failed. | |
| JointConfigVec | findSeedStatesForPair (moveit::core::RobotState &state, const std::string &group_name, const std::string &tool_frame, const JointPair &pair) |
| bool | isInJointSet (const JointConfig &c, const JointConfigVec &set, const JointPair &pair) |
| bool | isSameJointConfig (const JointConfig &a, const JointConfig &b, const JointPair &pair) |
| bool | isSingularity (moveit::core::RobotState &state, const moveit::core::JointModelGroup *group) |
| Returns true if the determinant of the jacobian is near zero. | |
Typedef Documentation
| typedef std::vector<unsigned> BijectionVec |
Definition at line 7 of file seed_search.cpp.
| typedef std::vector<double> JointConfig |
Definition at line 10 of file seed_search.cpp.
| typedef std::vector<JointConfig> JointConfigVec |
Definition at line 11 of file seed_search.cpp.
| typedef std::pair<unsigned, unsigned> JointPair |
Definition at line 8 of file seed_search.cpp.
| typedef std::vector<JointPair> JointPairVec |
Definition at line 9 of file seed_search.cpp.
Function Documentation
| std::vector<double> createSeedFromPerms | ( | const std::vector< double > & | initial, |
| const std::vector< double > & | a_perms, | ||
| unsigned | a_joint_idx, | ||
| const std::vector< double > & | b_perms, | ||
| unsigned | b_joint_idx, | ||
| unsigned | n | ||
| ) |
Definition at line 116 of file seed_search.cpp.
| std::vector<double> createValidJointPositions | ( | const moveit::core::JointModel & | model, |
| double | increment | ||
| ) |
Definition at line 98 of file seed_search.cpp.
| bool doFK | ( | moveit::core::RobotState & | state, |
| const moveit::core::JointModelGroup * | group, | ||
| const std::string & | tool, | ||
| const JointConfig & | joint_pose, | ||
| Eigen::Affine3d & | result | ||
| ) |
Forward kinematics helper.
Definition at line 16 of file seed_search.cpp.
| bool doIK | ( | moveit::core::RobotState & | state, |
| const moveit::core::JointModelGroup * | group, | ||
| const std::string & | group_name, | ||
| const std::string & | tool, | ||
| const Eigen::Affine3d & | pose, | ||
| const JointConfig & | seed, | ||
| JointConfig & | result | ||
| ) |
Inverse kinematics helper. Returns the solution in the result parameter. May return false if IK failed.
Definition at line 43 of file seed_search.cpp.
| JointConfigVec findSeedStatesForPair | ( | moveit::core::RobotState & | state, |
| const std::string & | group_name, | ||
| const std::string & | tool_frame, | ||
| const JointPair & | pair | ||
| ) |
Definition at line 131 of file seed_search.cpp.
| bool isInJointSet | ( | const JointConfig & | c, |
| const JointConfigVec & | set, | ||
| const JointPair & | pair | ||
| ) | [inline] |
Definition at line 89 of file seed_search.cpp.
| bool isSameJointConfig | ( | const JointConfig & | a, |
| const JointConfig & | b, | ||
| const JointPair & | pair | ||
| ) | [inline] |
Definition at line 80 of file seed_search.cpp.
| bool isSingularity | ( | moveit::core::RobotState & | state, |
| const moveit::core::JointModelGroup * | group | ||
| ) |
Returns true if the determinant of the jacobian is near zero.
Definition at line 66 of file seed_search.cpp.