constrained_ik::SolverState Struct Reference

Internal state of Constrained_IK solver. More...

#include <solver_state.h>

List of all members.

Public Member Functions
void	reset (const Eigen::Affine3d &goal, const Eigen::VectorXd &joint_seed)
	Reset the current state to default state.
	SolverState (const Eigen::Affine3d &goal, const Eigen::VectorXd &joint_seed)
	SolverState Constructor.
Public Attributes
bool	auxiliary_at_limit
double	auxiliary_sum
collision_detection::CollisionRobotIndustrialConstPtr	collision_robot
collision_detection::CollisionWorldIndustrialConstPtr	collision_world
initialization_state::InitializationState	condition
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Affine3d	goal
std::string	group_name
int	iter
std::vector< Eigen::VectorXd >	iteration_path
Eigen::VectorXd	joint_seed
Eigen::VectorXd	joints
Eigen::VectorXd	joints_delta
planning_scene::PlanningSceneConstPtr	planning_scene
Eigen::Affine3d	pose_estimate
double	primary_sum
moveit::core::RobotStatePtr	robot_state

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Detailed Description

Internal state of Constrained_IK solver.

Definition at line 41 of file solver_state.h.

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Constructor & Destructor Documentation

constrained_ik::SolverState::SolverState	(	const Eigen::Affine3d &	goal,
		const Eigen::VectorXd &	joint_seed
	)

SolverState Constructor.

Parameters:

goal	desired goal position to solve IK about
joint_seed	joint position (initial guess) to seed the IK solver with

Definition at line 35 of file solver_state.cpp.

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Member Function Documentation

void constrained_ik::SolverState::reset	(	const Eigen::Affine3d &	goal,
		const Eigen::VectorXd &	joint_seed
	)

Reset the current state to default state.

Parameters:

goal	desired goal position to solve IK about
joint_seed	joint position (initial guess) to seed the IK solver with

Definition at line 40 of file solver_state.cpp.

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Member Data Documentation

bool constrained_ik::SolverState::auxiliary_at_limit

This is set if auxiliary reached motion or iteration limit.

Definition at line 54 of file solver_state.h.

double constrained_ik::SolverState::auxiliary_sum

The absolute sum of the cumulative auxiliary motion

Definition at line 53 of file solver_state.h.

collision_detection::CollisionRobotIndustrialConstPtr constrained_ik::SolverState::collision_robot

Pointer to the collision robot, some constraints require it

Definition at line 57 of file solver_state.h.

collision_detection::CollisionWorldIndustrialConstPtr constrained_ik::SolverState::collision_world

Pointer to the collision world, some constraints require it

Definition at line 58 of file solver_state.h.

initialization_state::InitializationState constrained_ik::SolverState::condition

State of the IK Solver

Definition at line 55 of file solver_state.h.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Affine3d constrained_ik::SolverState::goal

Desired goal position to solve IK about

Definition at line 44 of file solver_state.h.

std::string constrained_ik::SolverState::group_name

Move group name

Definition at line 60 of file solver_state.h.

int constrained_ik::SolverState::iter

Current number of solver iterations

Definition at line 47 of file solver_state.h.

std::vector<Eigen::VectorXd> constrained_ik::SolverState::iteration_path

Store the joint position for each iteration of the solver

Definition at line 51 of file solver_state.h.

Eigen::VectorXd constrained_ik::SolverState::joint_seed

Joint position (initial guess) to seed the IK solver with

Definition at line 45 of file solver_state.h.

Eigen::VectorXd constrained_ik::SolverState::joints

Updated joint positions

Definition at line 48 of file solver_state.h.

Eigen::VectorXd constrained_ik::SolverState::joints_delta

The joint delta between this state and the previous state

Definition at line 49 of file solver_state.h.

planning_scene::PlanningSceneConstPtr constrained_ik::SolverState::planning_scene

Pointer to the planning scene, some constraints require it

Definition at line 56 of file solver_state.h.

Eigen::Affine3d constrained_ik::SolverState::pose_estimate

The pose for the updated joint position from the solver

Definition at line 50 of file solver_state.h.

double constrained_ik::SolverState::primary_sum

The absolute sum of the cumulative primary motion

Definition at line 52 of file solver_state.h.

moveit::core::RobotStatePtr constrained_ik::SolverState::robot_state

Pointer to the current robot state

Definition at line 59 of file solver_state.h.

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The documentation for this struct was generated from the following files:

• solver_state.h
• solver_state.cpp