Public Member Functions | Private Attributes
kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl Class Reference

List of all members.

Public Member Functions

kinematics::KinematicsBasePtr allocKinematicsSolver (const robot_model::JointModelGroup *jmg)
kinematics::KinematicsBasePtr allocKinematicsSolverWithCache (const robot_model::JointModelGroup *jmg)
std::vector< std::string > chooseTipFrames (const robot_model::JointModelGroup *jmg)
 Helper function to decide which, and how many, tip frames a planning group has.
 KinematicsLoaderImpl (const std::string &robot_description, const std::map< std::string, std::vector< std::string > > &possible_kinematics_solvers, const std::map< std::string, std::vector< double > > &search_res, const std::map< std::string, std::vector< std::string > > &iksolver_to_tip_links)
 Pimpl Implementation of KinematicsLoader.
void status () const

Private Attributes

std::map< std::string,
std::vector< std::string > > 
iksolver_to_tip_links_
std::map< const
robot_model::JointModelGroup
*, std::vector
< kinematics::KinematicsBasePtr > > 
instances_
boost::shared_ptr
< pluginlib::ClassLoader
< kinematics::KinematicsBase > > 
kinematics_loader_
boost::mutex lock_
std::map< std::string,
std::vector< std::string > > 
possible_kinematics_solvers_
std::string robot_description_
std::map< std::string,
std::vector< double > > 
search_res_

Detailed Description

Definition at line 49 of file kinematics_plugin_loader.cpp.


Constructor & Destructor Documentation

kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::KinematicsLoaderImpl ( const std::string &  robot_description,
const std::map< std::string, std::vector< std::string > > &  possible_kinematics_solvers,
const std::map< std::string, std::vector< double > > &  search_res,
const std::map< std::string, std::vector< std::string > > &  iksolver_to_tip_links 
) [inline]

Pimpl Implementation of KinematicsLoader.

Parameters:
robot_description
possible_kinematics_solvers
search_res
iksolver_to_tip_links- a map between each ik solver and a vector of custom-specified tip link(s)

Definition at line 59 of file kinematics_plugin_loader.cpp.


Member Function Documentation

kinematics::KinematicsBasePtr kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::allocKinematicsSolver ( const robot_model::JointModelGroup *  jmg) [inline]

Definition at line 124 of file kinematics_plugin_loader.cpp.

kinematics::KinematicsBasePtr kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::allocKinematicsSolverWithCache ( const robot_model::JointModelGroup *  jmg) [inline]

Definition at line 202 of file kinematics_plugin_loader.cpp.

std::vector<std::string> kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::chooseTipFrames ( const robot_model::JointModelGroup *  jmg) [inline]

Helper function to decide which, and how many, tip frames a planning group has.

Parameters:
jmg- joint model group pointer
Returns:
tips - list of valid links in a planning group to plan for

Definition at line 84 of file kinematics_plugin_loader.cpp.

Definition at line 225 of file kinematics_plugin_loader.cpp.


Member Data Documentation

Definition at line 238 of file kinematics_plugin_loader.cpp.

std::map<const robot_model::JointModelGroup*, std::vector<kinematics::KinematicsBasePtr> > kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::instances_ [private]

Definition at line 241 of file kinematics_plugin_loader.cpp.

Definition at line 240 of file kinematics_plugin_loader.cpp.

Definition at line 242 of file kinematics_plugin_loader.cpp.

Definition at line 236 of file kinematics_plugin_loader.cpp.

Definition at line 235 of file kinematics_plugin_loader.cpp.

std::map<std::string, std::vector<double> > kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::search_res_ [private]

Definition at line 237 of file kinematics_plugin_loader.cpp.


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


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Jan 17 2018 03:32:07