Inheritance diagram for IKFAST_NAMESPACE::IKFastPlugin:

Public Member Functions
virtual const std::vector < std::string > &	getJointNames () const
	Return all the joint names in the order they are used internally.
virtual const std::vector < std::string > &	getLinkNames () const
	Return all the link names in the order they are represented internally.
virtual 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.
virtual 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) const
	Given a desired pose of the end-effector, compute the joint angles to reach it.
	IKFastPlugin ()
virtual bool	initialize (const std::string &robot_description, const std::string &group_name, const std::string &base_frame, const std::string &tip_frame, double search_discretization)
	Initialization function for the kinematics.
virtual 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) 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).
virtual 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) 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).
virtual 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) 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).
virtual 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) 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.
virtual	~IKFastPlugin ()
	Virtual destructor for the interface.
Protected Member Functions
bool	loadModel (const std::string param)
bool	readJoints (urdf::Model &robot_model)
bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, std::vector< double > &solution, const std::vector< std::pair< double, double > > &min_max, moveit_msgs::MoveItErrorCodes &error_code, const double timeout=-1, const IKCallbackFn &solution_callback=0) const
Protected Attributes
double	bounds_epsilon_
std::vector< double >	indices_
std::vector< std::string >	joints_
std::vector< std::string >	links_
std::vector< std::pair< double, double > >	min_max_

Detailed Description

Definition at line 208 of file ikfast_plugin.cpp.

Constructor & Destructor Documentation

virtual IKFAST_NAMESPACE::IKFastPlugin::~IKFastPlugin ( ) [inline, virtual]

Virtual destructor for the interface.

Definition at line 384 of file ikfast_plugin.cpp.

IKFAST_NAMESPACE::IKFastPlugin::IKFastPlugin ( ) [inline]

Definition at line 386 of file ikfast_plugin.cpp.

Member Function Documentation

virtual const std::vector<std::string>& IKFAST_NAMESPACE::IKFastPlugin::getJointNames ( ) const [inline, virtual]

Return all the joint names in the order they are used internally.

Implements kinematics::KinematicsBase.

Definition at line 370 of file ikfast_plugin.cpp.

virtual const std::vector<std::string>& IKFAST_NAMESPACE::IKFastPlugin::getLinkNames ( ) const [inline, virtual]

Return all the link names in the order they are represented internally.

Implements kinematics::KinematicsBase.

Definition at line 377 of file ikfast_plugin.cpp.

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

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

Parameters:

request	- the request contains the joint angles, set of links for which poses are to be computed and a timeout
response	- the response contains stamped pose information for all the requested links

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

Implements kinematics::KinematicsBase.

Definition at line 320 of file ikfast_plugin.cpp.

virtual bool IKFAST_NAMESPACE::IKFastPlugin::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
	)		const `[inline, virtual]`

Given a desired pose of the end-effector, compute the joint angles to reach it.

Parameters:

ik_link_name	- the name of the link for which IK is being computed
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 217 of file ikfast_plugin.cpp.

virtual bool IKFAST_NAMESPACE::IKFastPlugin::initialize	(	const std::string &	robot_description,
		const std::string &	group_name,
		const std::string &	base_frame,
		const std::string &	tip_frame,
		double	search_discretization
	)		`[inline, virtual]`

Initialization function for the kinematics.

Returns:: True if initialization was successful, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 346 of file ikfast_plugin.cpp.

bool IKFAST_NAMESPACE::IKFastPlugin::loadModel ( const std::string param ) [inline, protected]

Definition at line 437 of file ikfast_plugin.cpp.

bool IKFAST_NAMESPACE::IKFastPlugin::readJoints ( urdf::Model & robot_model ) [inline, protected]

Definition at line 451 of file ikfast_plugin.cpp.

virtual bool IKFAST_NAMESPACE::IKFastPlugin::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
	)		const `[inline, 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 235 of file ikfast_plugin.cpp.

virtual bool IKFAST_NAMESPACE::IKFastPlugin::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
	)		const `[inline, 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 255 of file ikfast_plugin.cpp.

virtual bool IKFAST_NAMESPACE::IKFastPlugin::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
	)		const `[inline, 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 277 of file ikfast_plugin.cpp.

virtual bool IKFAST_NAMESPACE::IKFastPlugin::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
	)		const `[inline, 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 299 of file ikfast_plugin.cpp.

bool IKFAST_NAMESPACE::IKFastPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution,
		const std::vector< std::pair< double, double > > &	min_max,
		moveit_msgs::MoveItErrorCodes &	error_code,
		const double	timeout = `-1`,
		const IKCallbackFn &	solution_callback = `0`
	)		const `[inline, protected]`