Public Member Functions | Public Attributes | Private Member Functions | Private Attributes
pr2_arm_kinematics::PR2ArmIK Class Reference

#include <pr2_arm_ik.h>

List of all members.

Public Member Functions

void computeIKShoulderPan (const Eigen::Matrix4f &g_in, const double &shoulder_pan_initial_guess, std::vector< std::vector< double > > &solution) const
 compute IK based on an initial guess for the shoulder pan angle.
void computeIKShoulderRoll (const Eigen::Matrix4f &g_in, const double &shoulder_roll_initial_guess, std::vector< std::vector< double > > &solution) const
 compute IK based on an initial guess for the shoulder roll angle. h
void getSolverInfo (moveit_msgs::KinematicSolverInfo &info)
 get chain information about the arm. This populates the IK query response, filling in joint level information including names and joint limits.
bool init (const urdf::ModelInterface &robot_model, const std::string &root_name, const std::string &tip_name)
 Initialize the solver by providing a urdf::Model and a root and tip name.
 PR2ArmIK ()
 ~PR2ArmIK ()

Public Attributes

moveit_msgs::KinematicSolverInfo solver_info_
 get chain information about the arm.

Private Member Functions

void addJointToChainInfo (boost::shared_ptr< const urdf::Joint > joint, moveit_msgs::KinematicSolverInfo &info)
bool checkJointLimits (const std::vector< double > &joint_values) const
bool checkJointLimits (const double &joint_value, const int &joint_num) const

Private Attributes

std::vector< double > angle_multipliers_
std::vector< bool > continuous_joint_
double elbow_wrist_offset_
Eigen::Matrix4f gf_
Eigen::Matrix4f grhs_
Eigen::Matrix4f home_
Eigen::Matrix4f home_inv_
std::vector< double > max_angles_
std::vector< double > min_angles_
double shoulder_elbow_offset_
double shoulder_upperarm_offset_
double shoulder_wrist_offset_
std::vector< double > solution_
double torso_shoulder_offset_x_
double torso_shoulder_offset_y_
double torso_shoulder_offset_z_
double upperarm_elbow_offset_

Detailed Description

Definition at line 117 of file pr2_arm_ik.h.


Constructor & Destructor Documentation

Definition at line 53 of file pr2_arm_ik.cpp.

Definition at line 126 of file pr2_arm_ik.h.


Member Function Documentation

void PR2ArmIK::addJointToChainInfo ( boost::shared_ptr< const urdf::Joint >  joint,
moveit_msgs::KinematicSolverInfo &  info 
) [private]

Definition at line 153 of file pr2_arm_ik.cpp.

bool PR2ArmIK::checkJointLimits ( const std::vector< double > &  joint_values) const [private]

Definition at line 767 of file pr2_arm_ik.cpp.

bool PR2ArmIK::checkJointLimits ( const double &  joint_value,
const int &  joint_num 
) const [private]

Definition at line 779 of file pr2_arm_ik.cpp.

void PR2ArmIK::computeIKShoulderPan ( const Eigen::Matrix4f &  g_in,
const double &  shoulder_pan_initial_guess,
std::vector< std::vector< double > > &  solution 
) const

compute IK based on an initial guess for the shoulder pan angle.

Parameters:
Inputpose for end-effector
Initialguess for shoulder pan angle

Definition at line 196 of file pr2_arm_ik.cpp.

void PR2ArmIK::computeIKShoulderRoll ( const Eigen::Matrix4f &  g_in,
const double &  shoulder_roll_initial_guess,
std::vector< std::vector< double > > &  solution 
) const

compute IK based on an initial guess for the shoulder roll angle. h

Parameters:
Inputpose for end-effector
Initialguess for shoulder roll angle

Definition at line 463 of file pr2_arm_ik.cpp.

void PR2ArmIK::getSolverInfo ( moveit_msgs::KinematicSolverInfo &  info)

get chain information about the arm. This populates the IK query response, filling in joint level information including names and joint limits.

Parameters:
Theresponse structure to be filled in.

Definition at line 191 of file pr2_arm_ik.cpp.

bool PR2ArmIK::init ( const urdf::ModelInterface &  robot_model,
const std::string &  root_name,
const std::string &  tip_name 
)

Initialize the solver by providing a urdf::Model and a root and tip name.

Parameters:
Aurdf::Model representation of the PR2 robot model
Theroot joint name of the arm
Thetip joint name of the arm
Returns:
true if initialization was successful, false otherwise.

Definition at line 57 of file pr2_arm_ik.cpp.


Member Data Documentation

std::vector<double> pr2_arm_kinematics::PR2ArmIK::angle_multipliers_ [private]

Definition at line 178 of file pr2_arm_ik.h.

Definition at line 189 of file pr2_arm_ik.h.

Definition at line 182 of file pr2_arm_ik.h.

Eigen::Matrix4f pr2_arm_kinematics::PR2ArmIK::gf_ [private]

Definition at line 176 of file pr2_arm_ik.h.

Eigen::Matrix4f pr2_arm_kinematics::PR2ArmIK::grhs_ [private]

Definition at line 176 of file pr2_arm_ik.h.

Eigen::Matrix4f pr2_arm_kinematics::PR2ArmIK::home_ [private]

Definition at line 176 of file pr2_arm_ik.h.

Eigen::Matrix4f pr2_arm_kinematics::PR2ArmIK::home_inv_ [private]

Definition at line 176 of file pr2_arm_ik.h.

std::vector<double> pr2_arm_kinematics::PR2ArmIK::max_angles_ [private]

Definition at line 187 of file pr2_arm_ik.h.

std::vector<double> pr2_arm_kinematics::PR2ArmIK::min_angles_ [private]

Definition at line 185 of file pr2_arm_ik.h.

Definition at line 182 of file pr2_arm_ik.h.

Definition at line 182 of file pr2_arm_ik.h.

Definition at line 182 of file pr2_arm_ik.h.

std::vector<double> pr2_arm_kinematics::PR2ArmIK::solution_ [private]

Definition at line 180 of file pr2_arm_ik.h.

moveit_msgs::KinematicSolverInfo pr2_arm_kinematics::PR2ArmIK::solver_info_

get chain information about the arm.

Definition at line 165 of file pr2_arm_ik.h.

Definition at line 182 of file pr2_arm_ik.h.

Definition at line 182 of file pr2_arm_ik.h.

Definition at line 182 of file pr2_arm_ik.h.

Definition at line 182 of file pr2_arm_ik.h.


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


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Tue Dec 26 2017 03:33:18