Provides an interface for kinematics solvers. More...

#include <kinematics_base.h>

Inheritance diagram for kinematics::KinematicsBase:

Public Types
typedef boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, moveit_msgs::MoveItErrorCodes &error_code)>	IKCallbackFn
	The signature for a callback that can compute IK.
Public Member Functions
virtual const std::string &	getBaseFrame () const
	Return the name of the frame in which the solver is operating. This is usually a link name. No namespacing (e.g., no "/" prefix) should be used.
double	getDefaultTimeout () const
	For functions that require a timeout specified but one is not specified using arguments, this default timeout is used.
virtual const std::string &	getGroupName () const
	Return the name of the group that the solver is operating on.
virtual const std::vector < std::string > &	getJointNames () const =0
	Return all the joint names in the order they are used internally.
virtual const std::vector < std::string > &	getLinkNames () const =0
	Return all the link names in the order they are represented internally.
virtual bool	getPositionFK (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::Pose > &poses) const =0
	Given a set of joint angles and a set of links, compute their pose.
virtual 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 =0
	Given a desired pose of the end-effector, compute the joint angles to reach it.
virtual bool	getPositionIK (const std::vector< geometry_msgs::Pose > &ik_poses, const std::vector< double > &ik_seed_state, std::vector< std::vector< double > > &solutions, KinematicsResult &result, const kinematics::KinematicsQueryOptions &options) const
	Given a desired pose of the end-effector, compute the set joint angles solutions that are able to reach it.
virtual void	getRedundantJoints (std::vector< unsigned int > &redundant_joint_indices) const
	Get the set of redundant joints.
double	getSearchDiscretization (int joint_index=0) const
	Get the value of the search discretization.
std::vector< DiscretizationMethod >	getSupportedDiscretizationMethods () const
	Returns the set of supported kinematics discretization search types. This implementation only supports the DiscretizationMethods::ONE search.
virtual const std::string &	getTipFrame () const
	Return the name of the tip frame of the chain on which the solver is operating. This is usually a link name. No namespacing (e.g., no "/" prefix) should be used. Deprecated in favor of getTipFrames(), but will remain for foreseeable future for backwards compatibility.
virtual const std::vector < std::string > &	getTipFrames () const
	Return the names of the tip frames of the kinematic tree on which the solver is operating. This is usually a link name. No namespacing (e.g., no "/" prefix) should be used.
virtual bool	initialize (const std::string &robot_description, const std::string &group_name, const std::string &base_frame, const std::string &tip_frame, double search_discretization)=0
	Initialization function for the kinematics, for use with kinematic chain IK solvers.
virtual bool	initialize (const std::string &robot_description, const std::string &group_name, const std::string &base_frame, const std::vector< std::string > &tip_frames, double search_discretization)
	Initialization function for the kinematics, for use with non-chain IK solvers.
	KinematicsBase ()
virtual 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 =0
	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).
virtual 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 =0
	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).
virtual 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 =0
	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).
virtual 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 =0
	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).
virtual bool	searchPositionIK (const std::vector< geometry_msgs::Pose > &ik_poses, 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 moveit::core::RobotState *context_state=NULL) const
	Given a set of desired poses for a planning group with multiple end-effectors, search for the joint angles required to reach them. This is useful for e.g. biped robots that need to perform whole-body IK. Not necessary for most robots that have kinematic chains. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).
void	setDefaultTimeout (double timeout)
	For functions that require a timeout specified but one is not specified using arguments, a default timeout is used, as set by this function (and initialized to KinematicsBase::DEFAULT_TIMEOUT)
virtual bool	setRedundantJoints (const std::vector< unsigned int > &redundant_joint_indices)
	Set a set of redundant joints for the kinematics solver to use. This can fail, depending on the IK solver and choice of redundant joints!. Also, it sets the discretization values for each redundant joint to a default value.
bool	setRedundantJoints (const std::vector< std::string > &redundant_joint_names)
	Set a set of redundant joints for the kinematics solver to use. This function is just a convenience function that calls the previous definition of setRedundantJoints()
void	setSearchDiscretization (double sd)
	Set the search discretization value for all the redundant joints.
void	setSearchDiscretization (const std::map< int, double > &discretization)
	Sets individual discretization values for each redundant joint.
virtual void	setValues (const std::string &robot_description, const std::string &group_name, const std::string &base_frame, const std::string &tip_frame, double search_discretization)
	Set the parameters for the solver, for use with kinematic chain IK solvers.
virtual void	setValues (const std::string &robot_description, const std::string &group_name, const std::string &base_frame, const std::vector< std::string > &tip_frames, double search_discretization)
	Set the parameters for the solver, for use with non-chain IK solvers.
virtual bool	supportsGroup (const moveit::core::JointModelGroup jmg, std::string error_text_out=NULL) const
	Check if this solver supports a given JointModelGroup.
virtual	~KinematicsBase ()
	Virtual destructor for the interface.
Static Public Attributes
static const double	DEFAULT_SEARCH_DISCRETIZATION = 0.1
static const double	DEFAULT_TIMEOUT = 1.0
Protected Attributes
std::string	base_frame_
double	default_timeout_
std::string	group_name_
std::map< int, double >	redundant_joint_discretization_
std::vector< unsigned int >	redundant_joint_indices_
std::string	robot_description_
double	search_discretization_
std::vector< DiscretizationMethod >	supported_methods_
std::string	tip_frame_
std::vector< std::string >	tip_frames_
Private Member Functions
std::string	removeSlash (const std::string &str) const

Detailed Description

Provides an interface for kinematics solvers.

Definition at line 143 of file kinematics_base.h.

Member Typedef Documentation

typedef boost::function<void(const geometry_msgs::Pose& ik_pose, const std::vector<double>& ik_solution, moveit_msgs::MoveItErrorCodes& error_code)> kinematics::KinematicsBase::IKCallbackFn

The signature for a callback that can compute IK.

Definition at line 152 of file kinematics_base.h.

Constructor & Destructor Documentation

virtual kinematics::KinematicsBase::~KinematicsBase ( ) [inline, virtual]

Virtual destructor for the interface.

Definition at line 570 of file kinematics_base.h.

kinematics::KinematicsBase::KinematicsBase ( ) [inline]

Definition at line 574 of file kinematics_base.h.

Member Function Documentation

virtual const std::string& kinematics::KinematicsBase::getBaseFrame ( ) const [inline, virtual]

Return the name of the frame in which the solver is operating. This is usually a link name. No namespacing (e.g., no "/" prefix) should be used.

Returns:: The string name of the frame in which the solver is operating

Definition at line 412 of file kinematics_base.h.

double kinematics::KinematicsBase::getDefaultTimeout ( ) const [inline]

For functions that require a timeout specified but one is not specified using arguments, this default timeout is used.

Definition at line 562 of file kinematics_base.h.

virtual const std::string& kinematics::KinematicsBase::getGroupName ( ) const [inline, virtual]

Return the name of the group that the solver is operating on.

Returns:: The string name of the group that the solver is operating on

Definition at line 402 of file kinematics_base.h.

virtual const std::vector<std::string>& kinematics::KinematicsBase::getJointNames ( ) const [pure virtual]

Return all the joint names in the order they are used internally.

Implemented in pr2_arm_kinematics::PR2ArmKinematicsPlugin.

virtual const std::vector<std::string>& kinematics::KinematicsBase::getLinkNames ( ) const [pure virtual]

Return all the link names in the order they are represented internally.

Implemented in pr2_arm_kinematics::PR2ArmKinematicsPlugin.

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

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

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

Implemented in pr2_arm_kinematics::PR2ArmKinematicsPlugin.

virtual bool kinematics::KinematicsBase::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 `[pure 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
lock_redundant_joints	if setRedundantJoints() was previously called, keep the values of the joints marked as redundant the same as in the seed

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

Implemented in pr2_arm_kinematics::PR2ArmKinematicsPlugin.

bool kinematics::KinematicsBase::getPositionIK	(	const std::vector< geometry_msgs::Pose > &	ik_poses,
		const std::vector< double > &	ik_seed_state,
		std::vector< std::vector< double > > &	solutions,
		kinematics::KinematicsResult &	result,
		const kinematics::KinematicsQueryOptions &	options
	)		const `[virtual]`

Given a desired pose of the end-effector, compute the set joint angles solutions that are able to reach it.

This is a default implementation that returns only one solution and so its result is equivalent to calling 'getPositionIK(...)' with a zero initialized seed.

Parameters:

ik_poses	The desired pose of each tip link
ik_seed_state	an initial guess solution for the inverse kinematics
solutions	A vector of vectors where each entry is a valid joint solution
result	A struct that reports the results of the query
options	An option struct which contains the type of redundancy discretization used. This default implementation only supports the KinematicSearches::NO_DISCRETIZATION method; requesting any other will result in failure.

Returns:: True if a valid set of solutions was found, false otherwise.

Definition at line 127 of file kinematics_base.cpp.

virtual void kinematics::KinematicsBase::getRedundantJoints ( std::vector< unsigned int > & redundant_joint_indices ) const [inline, virtual]

Get the set of redundant joints.

Definition at line 465 of file kinematics_base.h.

double kinematics::KinematicsBase::getSearchDiscretization ( int joint_index = 0 ) const [inline]

Get the value of the search discretization.

Definition at line 532 of file kinematics_base.h.

std::vector<DiscretizationMethod> kinematics::KinematicsBase::getSupportedDiscretizationMethods ( ) const [inline]

Returns the set of supported kinematics discretization search types. This implementation only supports the DiscretizationMethods::ONE search.

Definition at line 548 of file kinematics_base.h.

virtual const std::string& kinematics::KinematicsBase::getTipFrame ( ) const [inline, virtual]

Return the name of the tip frame of the chain on which the solver is operating. This is usually a link name. No namespacing (e.g., no "/" prefix) should be used. Deprecated in favor of getTipFrames(), but will remain for foreseeable future for backwards compatibility.

Returns:: The string name of the tip frame of the chain on which the solver is operating

Definition at line 424 of file kinematics_base.h.

virtual const std::vector<std::string>& kinematics::KinematicsBase::getTipFrames ( ) const [inline, virtual]

Return the names of the tip frames of the kinematic tree on which the solver is operating. This is usually a link name. No namespacing (e.g., no "/" prefix) should be used.

Returns:: The vector of names of the tip frames of the kinematic tree on which the solver is operating

Definition at line 437 of file kinematics_base.h.

virtual bool kinematics::KinematicsBase::initialize	(	const std::string &	robot_description,
		const std::string &	group_name,
		const std::string &	base_frame,
		const std::string &	tip_frame,
		double	search_discretization
	)		`[pure virtual]`

Initialization function for the kinematics, for use with kinematic chain IK solvers.

Parameters:

robot_description	This parameter can be used as an identifier for the robot kinematics it is computed for; For example, the name of the ROS parameter that contains the robot description;
group_name	The group for which this solver is being configured
base_frame	The base frame in which all input poses are expected. This may (or may not) be the root frame of the chain that the solver operates on
tip_frame	The tip of the chain
search_discretization	The discretization of the search when the solver steps through the redundancy

Returns:: True if initialization was successful, false otherwise

Implemented in pr2_arm_kinematics::PR2ArmKinematicsPlugin.

virtual bool kinematics::KinematicsBase::initialize	(	const std::string &	robot_description,
		const std::string &	group_name,
		const std::string &	base_frame,
		const std::vector< std::string > &	tip_frames,
		double	search_discretization
	)		`[inline, virtual]`

Initialization function for the kinematics, for use with non-chain IK solvers.

Parameters:

robot_description	This parameter can be used as an identifier for the robot kinematics is computed for; For example, rhe name of the ROS parameter that contains the robot description;
group_name	The group for which this solver is being configured
base_frame	The base frame in which all input poses are expected. This may (or may not) be the root frame of the chain that the solver operates on
tip_frames	A vector of tips of the kinematic tree
search_discretization	The discretization of the search when the solver steps through the redundancy

Returns:: True if initialization was successful, false otherwise

Definition at line 383 of file kinematics_base.h.

std::string kinematics::KinematicsBase::removeSlash ( const std::string & str ) const [private]

Definition at line 106 of file kinematics_base.cpp.

virtual bool kinematics::KinematicsBase::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 `[pure 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
timeout	The amount of time (in seconds) available to the solver
solution	the solution vector
error_code	an error code that encodes the reason for failure or success
lock_redundant_joints	if setRedundantJoints() was previously called, keep the values of the joints marked as redundant the same as in the seed

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

Implemented in pr2_arm_kinematics::PR2ArmKinematicsPlugin.

virtual bool kinematics::KinematicsBase::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 `[pure 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
timeout	The amount of time (in seconds) available to the solver
consistency_limits	the distance that any joint in the solution can be from the corresponding joints in the current seed state
solution	the solution vector
error_code	an error code that encodes the reason for failure or success
lock_redundant_joints	if setRedundantJoints() was previously called, keep the values of the joints marked as redundant the same as in the seed

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

Implemented in pr2_arm_kinematics::PR2ArmKinematicsPlugin.

virtual bool kinematics::KinematicsBase::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 `[pure 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
timeout	The amount of time (in seconds) available to the solver
solution	the solution vector
solution_callback	A callback solution for the IK solution
error_code	an error code that encodes the reason for failure or success
lock_redundant_joints	if setRedundantJoints() was previously called, keep the values of the joints marked as redundant the same as in the seed

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

Implemented in pr2_arm_kinematics::PR2ArmKinematicsPlugin.

virtual bool kinematics::KinematicsBase::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 `[pure 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
timeout	The amount of time (in seconds) available to the solver
consistency_limits	the distance that any joint in the solution can be from the corresponding joints in the current seed state
solution	the solution vector
solution_callback	A callback solution for the IK solution
error_code	an error code that encodes the reason for failure or success
lock_redundant_joints	if setRedundantJoints() was previously called, keep the values of the joints marked as redundant the same as in the seed

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

Implemented in pr2_arm_kinematics::PR2ArmKinematicsPlugin.

virtual bool kinematics::KinematicsBase::searchPositionIK	(	const std::vector< geometry_msgs::Pose > &	ik_poses,
		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 moveit::core::RobotState *	context_state = `NULL`
	)		const `[inline, virtual]`

Given a set of desired poses for a planning group with multiple end-effectors, search for the joint angles required to reach them. This is useful for e.g. biped robots that need to perform whole-body IK. Not necessary for most robots that have kinematic chains. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters:

ik_poses	the desired pose of each tip link, in the same order as the getTipFrames() vector
ik_seed_state	an initial guess solution for the inverse kinematics
timeout	The amount of time (in seconds) available to the solver
consistency_limits	the distance that any joint in the solution can be from the corresponding joints in the current seed state
solution	the solution vector
solution_callback	A callback solution for the IK solution
error_code	an error code that encodes the reason for failure or success
options	container for other IK options
context_state	(optional) the context in which this request is being made. The position values corresponding to joints in the current group may not match those in ik_seed_state. The values in ik_seed_state are the ones to use. This is passed just to provide the other joint values, in case they are needed for context, like with an IK solver that computes a balanced result for a biped.

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

Definition at line 294 of file kinematics_base.h.

void kinematics::KinematicsBase::setDefaultTimeout ( double timeout ) [inline]

For functions that require a timeout specified but one is not specified using arguments, a default timeout is used, as set by this function (and initialized to KinematicsBase::DEFAULT_TIMEOUT)

Definition at line 555 of file kinematics_base.h.

bool kinematics::KinematicsBase::setRedundantJoints ( const std::vector< unsigned int > & redundant_joint_indices ) [virtual]

Set a set of redundant joints for the kinematics solver to use. This can fail, depending on the IK solver and choice of redundant joints!. Also, it sets the discretization values for each redundant joint to a default value.

Parameters:

redundant_joint_indices The set of redundant joint indices (corresponding to the list of joints you get from getJointNames()).

Returns:: False if any of the input joint indices are invalid (exceed number of joints)

Definition at line 76 of file kinematics_base.cpp.

bool kinematics::KinematicsBase::setRedundantJoints ( const std::vector< std::string > & redundant_joint_names )

Set a set of redundant joints for the kinematics solver to use. This function is just a convenience function that calls the previous definition of setRedundantJoints()

Parameters:

redundant_joint_names The set of redundant joint names.

Returns:: False if any of the input joint indices are invalid (exceed number of joints)

Definition at line 91 of file kinematics_base.cpp.

void kinematics::KinematicsBase::setSearchDiscretization ( double sd ) [inline]

Set the search discretization value for all the redundant joints.

Definition at line 501 of file kinematics_base.h.

void kinematics::KinematicsBase::setSearchDiscretization ( const std::map< int, double > & discretization ) [inline]

Sets individual discretization values for each redundant joint.

Calling this method replaces previous discretization settings.

Parameters:

discretization a map of joint indices and discretization value pairs.

Definition at line 518 of file kinematics_base.h.

void kinematics::KinematicsBase::setValues	(	const std::string &	robot_description,
		const std::string &	group_name,
		const std::string &	base_frame,
		const std::string &	tip_frame,
		double	search_discretization
	)		`[virtual]`

Set the parameters for the solver, for use with kinematic chain IK solvers.

Parameters:

robot_description	This parameter can be used as an identifier for the robot kinematics it is computed for; For example, the name of the ROS parameter that contains the robot description;
group_name	The group for which this solver is being configured
base_frame	The base frame in which all input poses are expected. This may (or may not) be the root frame of the chain that the solver operates on
tip_frame	The tip of the chain
search_discretization	The discretization of the search when the solver steps through the redundancy

Definition at line 43 of file kinematics_base.cpp.

void kinematics::KinematicsBase::setValues	(	const std::string &	robot_description,
		const std::string &	group_name,
		const std::string &	base_frame,
		const std::vector< std::string > &	tip_frames,
		double	search_discretization
	)		`[virtual]`

Set the parameters for the solver, for use with non-chain IK solvers.

Parameters:

robot_description	This parameter can be used as an identifier for the robot kinematics it is computed for; For example, the name of the ROS parameter that contains the robot description;
group_name	The group for which this solver is being configured
base_frame	The base frame in which all input poses are expected. This may (or may not) be the root frame of the chain that the solver operates on
tip_frames	A vector of tips of the kinematic tree
search_discretization	The discretization of the search when the solver steps through the redundancy

Definition at line 56 of file kinematics_base.cpp.

bool kinematics::KinematicsBase::supportsGroup	(	const moveit::core::JointModelGroup *	jmg,
		std::string *	error_text_out = `NULL`
	)		const `[virtual]`

Check if this solver supports a given JointModelGroup.

Override this function to check if your kinematics solver implementation supports the given group.

The default implementation just returns jmg->isChain(), since solvers written before this function was added all supported only chain groups.

Parameters:

jmg	the planning group being proposed to be solved by this IK solver
error_text_out	If this pointer is non-null and the group is not supported, this is filled with a description of why it's not supported.