kinematics_plugin_loader.h
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00034 
00035 /* Author: Ioan Sucan, Dave Coleman */
00036 
00037 #ifndef MOVEIT_KINEMATICS_PLUGIN_LOADER_
00038 #define MOVEIT_KINEMATICS_PLUGIN_LOADER_
00039 
00040 #include <boost/function.hpp>
00041 #include <moveit/macros/class_forward.h>
00042 #include <moveit/robot_model/robot_model.h>
00043 #include <moveit/kinematics_base/kinematics_base.h>
00044 
00045 namespace kinematics_plugin_loader
00046 {
00047 MOVEIT_CLASS_FORWARD(KinematicsPluginLoader);
00048 
00050 class KinematicsPluginLoader
00051 {
00052 public:
00058   KinematicsPluginLoader(const std::string& robot_description = "robot_description",
00059                          double default_search_resolution = 0.0)
00060     : robot_description_(robot_description), default_search_resolution_(default_search_resolution)
00061   {
00062   }
00063 
00071   KinematicsPluginLoader(const std::string& solver_plugin, double solve_timeout, unsigned int ik_attempts,
00072                          const std::string& robot_description = "robot_description",
00073                          double default_search_resolution = 0.0)
00074     : robot_description_(robot_description)
00075     , default_search_resolution_(default_search_resolution)
00076     , default_solver_plugin_(solver_plugin)
00077     , default_solver_timeout_(solve_timeout)
00078     , default_ik_attempts_(ik_attempts)
00079   {
00080   }
00081 
00084   robot_model::SolverAllocatorFn getLoaderFunction();
00085 
00088   robot_model::SolverAllocatorFn getLoaderFunction(const boost::shared_ptr<srdf::Model>& srdf_model);
00089 
00091   const std::vector<std::string>& getKnownGroups() const
00092   {
00093     return groups_;
00094   }
00095 
00097   const std::map<std::string, double>& getIKTimeout() const
00098   {
00099     return ik_timeout_;
00100   }
00101 
00103   const std::map<std::string, unsigned int>& getIKAttempts() const
00104   {
00105     return ik_attempts_;
00106   }
00107 
00108   void status() const;
00109 
00110 private:
00111   std::string robot_description_;
00112   double default_search_resolution_;
00113 
00114   MOVEIT_CLASS_FORWARD(KinematicsLoaderImpl);
00115   KinematicsLoaderImplPtr loader_;
00116 
00117   std::vector<std::string> groups_;
00118   std::map<std::string, double> ik_timeout_;
00119   std::map<std::string, unsigned int> ik_attempts_;
00120 
00121   // default configuration
00122   std::string default_solver_plugin_;
00123   double default_solver_timeout_;
00124   unsigned int default_ik_attempts_;
00125 };
00126 }
00127 
00128 #endif


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Fri Apr 20 2018 03:31:39