Inheritance diagram for katana_450_6m90a_kinematics::IKFastKinematicsPlugin:

Public Member Functions
bool	getPositionFK (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::Pose > &poses) const
	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, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
	Given a desired pose of the end-effector, compute the joint angles to reach it.
	IKFastKinematicsPlugin ()
bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, std::vector< double > &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
	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, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
	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, double timeout, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
	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, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
	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.
Private Member Functions
void	fillFreeParams (int count, int *array)
void	getClosestSolution (const IkSolutionList< IkReal > &solutions, const std::vector< double > &ik_seed_state, std::vector< double > &solution) const
bool	getCount (int &count, const int &max_count, const int &min_count) const
const std::vector< std::string > &	getJointNames () const
const std::vector< std::string > &	getLinkNames () const
void	getSolution (const IkSolutionList< IkReal > &solutions, int i, std::vector< double > &solution) const
	Gets a specific solution from the set.
double	harmonize (const std::vector< double > &ik_seed_state, std::vector< double > &solution) const
bool	initialize (const std::string &robot_description, const std::string &group_name, const std::string &base_name, const std::string &tip_name, double search_discretization)
int	solve (KDL::Frame &pose_frame, const std::vector< double > &vfree, IkSolutionList< IkReal > &solutions) const
	Calls the IK solver from IKFast.
Private Attributes
bool	active_
std::vector< int >	free_params_
std::vector< bool >	joint_has_limits_vector_
std::vector< double >	joint_max_vector_
std::vector< double >	joint_min_vector_
std::vector< std::string >	joint_names_
std::vector< std::string >	link_names_
size_t	num_joints_

Detailed Description

Definition at line 114 of file katana_450_6m90a_ikfast_plugin.cpp.

Constructor & Destructor Documentation

katana_450_6m90a_kinematics::IKFastKinematicsPlugin::IKFastKinematicsPlugin ( ) [inline]

Definition at line 133 of file katana_450_6m90a_ikfast_plugin.cpp.

Member Function Documentation

void katana_450_6m90a_kinematics::IKFastKinematicsPlugin::fillFreeParams	(	int	count,
		int *	array
	)		`[private]`

Definition at line 535 of file katana_450_6m90a_ikfast_plugin.cpp.

void katana_450_6m90a_kinematics::IKFastKinematicsPlugin::getClosestSolution	(	const IkSolutionList< IkReal > &	solutions,
		const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution
	)		const `[private]`

Definition at line 511 of file katana_450_6m90a_ikfast_plugin.cpp.

bool katana_450_6m90a_kinematics::IKFastKinematicsPlugin::getCount	(	int &	count,
		const int &	max_count,
		const int &	min_count
	)		const `[private]`

Definition at line 541 of file katana_450_6m90a_ikfast_plugin.cpp.

const std::vector<std::string>& katana_450_6m90a_kinematics::IKFastKinematicsPlugin::getJointNames ( ) const [inline, private, virtual]

Implements kinematics::KinematicsBase.

Definition at line 125 of file katana_450_6m90a_ikfast_plugin.cpp.

const std::vector<std::string>& katana_450_6m90a_kinematics::IKFastKinematicsPlugin::getLinkNames ( ) const [inline, private, virtual]

Implements kinematics::KinematicsBase.

Definition at line 126 of file katana_450_6m90a_ikfast_plugin.cpp.

bool katana_450_6m90a_kinematics::IKFastKinematicsPlugin::getPositionFK	(	const std::vector< std::string > &	link_names,
		const std::vector< double > &	joint_angles,
		std::vector< geometry_msgs::Pose > &	poses
	)		const `[virtual]`

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

This FK routine is never used, since there is currently no way to configure MoveIt to use it. ROS TF is used to calculate the forward kinematics instead.

Parameters:

link_names	A set of links for which FK needs to be computed
joint_angles	The state for which FK is being computed
poses	The resultant set of poses (in the frame returned by getBaseFrame())

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

Implements kinematics::KinematicsBase.

Definition at line 577 of file katana_450_6m90a_ikfast_plugin.cpp.

bool katana_450_6m90a_kinematics::IKFastKinematicsPlugin::getPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution,
		moveit_msgs::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const `[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
solution	the solution vector
error_code	an error code that encodes the reason for failure or success

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

Implements kinematics::KinematicsBase.

Definition at line 853 of file katana_450_6m90a_ikfast_plugin.cpp.

void katana_450_6m90a_kinematics::IKFastKinematicsPlugin::getSolution	(	const IkSolutionList< IkReal > &	solutions,
		int	i,
		std::vector< double > &	solution
	)		const `[private]`

Gets a specific solution from the set.

Definition at line 447 of file katana_450_6m90a_ikfast_plugin.cpp.

double katana_450_6m90a_kinematics::IKFastKinematicsPlugin::harmonize	(	const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution
	)		const `[private]`

Definition at line 465 of file katana_450_6m90a_ikfast_plugin.cpp.

bool katana_450_6m90a_kinematics::IKFastKinematicsPlugin::initialize	(	const std::string &	robot_description,
		const std::string &	group_name,
		const std::string &	base_name,
		const std::string &	tip_name,
		double	search_discretization
	)		`[private, virtual]`

Implements kinematics::KinematicsBase.

Definition at line 260 of file katana_450_6m90a_ikfast_plugin.cpp.

bool katana_450_6m90a_kinematics::IKFastKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		double	timeout,
		std::vector< double > &	solution,
		moveit_msgs::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const `[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 622 of file katana_450_6m90a_ikfast_plugin.cpp.

bool katana_450_6m90a_kinematics::IKFastKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		double	timeout,
		const std::vector< double > &	consistency_limits,
		std::vector< double > &	solution,
		moveit_msgs::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const `[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

Implements kinematics::KinematicsBase.

Definition at line 642 of file katana_450_6m90a_ikfast_plugin.cpp.

bool katana_450_6m90a_kinematics::IKFastKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		double	timeout,
		std::vector< double > &	solution,
		const IKCallbackFn &	solution_callback,
		moveit_msgs::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const `[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 661 of file katana_450_6m90a_ikfast_plugin.cpp.

bool katana_450_6m90a_kinematics::IKFastKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		double	timeout,
		const std::vector< double > &	consistency_limits,
		std::vector< double > &	solution,
		const IKCallbackFn &	solution_callback,
		moveit_msgs::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const `[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

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

Implements kinematics::KinematicsBase.

Definition at line 680 of file katana_450_6m90a_ikfast_plugin.cpp.

int katana_450_6m90a_kinematics::IKFastKinematicsPlugin::solve	(	KDL::Frame &	pose_frame,
		const std::vector< double > &	vfree,
		IkSolutionList< IkReal > &	solutions
	)		const `[private]`