Inheritance diagram for ikfast_kinematics_plugin::IKFastKinematicsPlugin:

Public Member Functions
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.
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=kinematics::KinematicsQueryOptions()) const
	Given a desired pose of the end-effector, compute the joint angles to reach it.
	IKFastKinematicsPlugin ()
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=kinematics::KinematicsQueryOptions()) 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).
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=kinematics::KinematicsQueryOptions()) 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).
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=kinematics::KinematicsQueryOptions()) 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).
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=kinematics::KinematicsQueryOptions()) 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.
Private Member Functions
void	fillFreeParams (int count, int *array)
void	getClosestSolution (const IkSolutionList< IkReal > &solutions, const std::vector< double > &ik_seed_state, std::vector< double > &solution) const
bool	getCount (int &count, const int &max_count, const int &min_count) const
const std::vector< std::string > &	getJointNames () const
const std::vector< std::string > &	getLinkNames () const
void	getSolution (const IkSolutionList< IkReal > &solutions, int i, std::vector< double > &solution) const
	Gets a specific solution from the set.
double	harmonize (const std::vector< double > &ik_seed_state, std::vector< double > &solution) const
bool	initialize (const std::string &robot_description, const std::string &group_name, const std::string &base_name, const std::string &tip_name, double search_discretization)
int	solve (KDL::Frame &pose_frame, const std::vector< double > &vfree, IkSolutionList< IkReal > &solutions) const
	Calls the IK solver from IKFast.
Private Attributes
bool	active_
std::vector< int >	free_params_
std::vector< bool >	joint_has_limits_vector_
std::vector< double >	joint_max_vector_
std::vector< double >	joint_min_vector_
std::vector< std::string >	joint_names_
std::vector< std::string >	link_names_
size_t	num_joints_

Detailed Description

Definition at line 114 of file fanuc_lrmate200i_manipulator_ikfast_moveit_plugin.cpp.

Constructor & Destructor Documentation

ikfast_kinematics_plugin::IKFastKinematicsPlugin::IKFastKinematicsPlugin ( ) [inline]

Definition at line 133 of file fanuc_lrmate200i_manipulator_ikfast_moveit_plugin.cpp.

Member Function Documentation

void ikfast_kinematics_plugin::IKFastKinematicsPlugin::fillFreeParams	(	int	count,
		int *	array
	)		`[private]`

Definition at line 535 of file fanuc_lrmate200i_manipulator_ikfast_moveit_plugin.cpp.

void ikfast_kinematics_plugin::IKFastKinematicsPlugin::getClosestSolution	(	const IkSolutionList< IkReal > &	solutions,
		const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution
	)		const `[private]`

Definition at line 511 of file fanuc_lrmate200i_manipulator_ikfast_moveit_plugin.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::getCount	(	int &	count,
		const int &	max_count,
		const int &	min_count
	)		const `[private]`

Definition at line 541 of file fanuc_lrmate200i_manipulator_ikfast_moveit_plugin.cpp.

const std::vector<std::string>& ikfast_kinematics_plugin::IKFastKinematicsPlugin::getJointNames ( ) const [inline, private, virtual]

Implements kinematics::KinematicsBase.

Definition at line 125 of file fanuc_lrmate200i_manipulator_ikfast_moveit_plugin.cpp.

const std::vector<std::string>& ikfast_kinematics_plugin::IKFastKinematicsPlugin::getLinkNames ( ) const [inline, private, virtual]

Implements kinematics::KinematicsBase.

Definition at line 126 of file fanuc_lrmate200i_manipulator_ikfast_moveit_plugin.cpp.

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

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

This FK routine is only used if 'use_plugin_fk' is set in the 'arm_kinematics_constraint_aware' node, otherwise ROS TF is used to calculate the forward kinematics

Parameters:

link_names	A set of links for which FK needs to be computed
joint_angles	The state for which FK is being computed
poses	The resultant set of poses (in the frame returned by getBaseFrame())

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

Implements kinematics::KinematicsBase.

Definition at line 577 of file fanuc_lrmate200i_manipulator_ikfast_moveit_plugin.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::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 = `kinematics::KinematicsQueryOptions()`
	)		const `[virtual]`

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

Parameters:

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics
solution	the solution vector
error_code	an error code that encodes the reason for failure or success

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

Implements kinematics::KinematicsBase.

Definition at line 850 of file fanuc_lrmate200i_manipulator_ikfast_moveit_plugin.cpp.

void ikfast_kinematics_plugin::IKFastKinematicsPlugin::getSolution	(	const IkSolutionList< IkReal > &	solutions,
		int	i,
		std::vector< double > &	solution
	)		const `[private]`

Gets a specific solution from the set.

Definition at line 447 of file fanuc_lrmate200i_manipulator_ikfast_moveit_plugin.cpp.

double ikfast_kinematics_plugin::IKFastKinematicsPlugin::harmonize	(	const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution
	)		const `[private]`

Definition at line 465 of file fanuc_lrmate200i_manipulator_ikfast_moveit_plugin.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::initialize	(	const std::string &	robot_description,
		const std::string &	group_name,
		const std::string &	base_name,
		const std::string &	tip_name,
		double	search_discretization
	)		`[private, virtual]`

Implements kinematics::KinematicsBase.

Definition at line 260 of file fanuc_lrmate200i_manipulator_ikfast_moveit_plugin.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::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 = `kinematics::KinematicsQueryOptions()`
	)		const `[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 619 of file fanuc_lrmate200i_manipulator_ikfast_moveit_plugin.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::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 = `kinematics::KinematicsQueryOptions()`
	)		const `[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 639 of file fanuc_lrmate200i_manipulator_ikfast_moveit_plugin.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::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 = `kinematics::KinematicsQueryOptions()`
	)		const `[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 658 of file fanuc_lrmate200i_manipulator_ikfast_moveit_plugin.cpp.

bool ikfast_kinematics_plugin::IKFastKinematicsPlugin::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 = `kinematics::KinematicsQueryOptions()`
	)		const `[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 677 of file fanuc_lrmate200i_manipulator_ikfast_moveit_plugin.cpp.

int ikfast_kinematics_plugin::IKFastKinematicsPlugin::solve	(	KDL::Frame &	pose_frame,
		const std::vector< double > &	vfree,
		IkSolutionList< IkReal > &	solutions
	)		const `[private]`