#include <kinematics_constraint_aware.h>

Public Member Functions
const std::string &	getGroupName () const
bool	getIK (const planning_scene::PlanningSceneConstPtr &planning_scene, const kinematics_constraint_aware::KinematicsRequest &request, kinematics_constraint_aware::KinematicsResponse &response) const
	Solve the planning problem.
bool	getIK (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::GetConstraintAwarePositionIK::Request &request, moveit_msgs::GetConstraintAwarePositionIK::Response &response) const
	Solve the planning problem.
const robot_model::RobotModelConstPtr &	getRobotModel () const
	KinematicsConstraintAware (const robot_model::RobotModelConstPtr &kinematic_model, const std::string &group_name)
	Default constructor.
Private Member Functions
bool	convertServiceRequest (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::GetConstraintAwarePositionIK::Request &request, kinematics_constraint_aware::KinematicsRequest &kinematics_request, kinematics_constraint_aware::KinematicsResponse &kinematics_response) const
geometry_msgs::Pose	getTipFramePose (const planning_scene::PlanningSceneConstPtr &planning_scene, const robot_state::RobotState &kinematic_state, const geometry_msgs::Pose &pose, const std::string &link_name, unsigned int sub_group_index) const
EigenSTL::vector_Affine3d	transformPoses (const planning_scene::PlanningSceneConstPtr &planning_scene, const robot_state::RobotState &kinematic_state, const std::vector< geometry_msgs::PoseStamped > &poses, const std::string &target_frame) const
bool	validityCallbackFn (const planning_scene::PlanningSceneConstPtr &planning_scene, const kinematics_constraint_aware::KinematicsRequest &request, kinematics_constraint_aware::KinematicsResponse &response, robot_state::JointStateGroup *joint_state_group, const std::vector< double > &joint_group_variable_values) const
Private Attributes
std::string	group_name_
bool	has_sub_groups_
unsigned int	ik_attempts_
const robot_model::JointModelGroup *	joint_model_group_
robot_model::RobotModelConstPtr	kinematic_model_
std::vector< std::string >	sub_groups_names_

Detailed Description

Definition at line 71 of file kinematics_constraint_aware.h.

Constructor & Destructor Documentation

kinematics_constraint_aware::KinematicsConstraintAware::KinematicsConstraintAware	(	const robot_model::RobotModelConstPtr &	kinematic_model,
		const std::string &	group_name
	)

Default constructor.

Parameters:

kinematic_model	An instance of a kinematic model
group_name	The name of the group to configure this solver for

Returns:: False if any error occurs

Definition at line 47 of file kinematics_constraint_aware.cpp.

Member Function Documentation

bool kinematics_constraint_aware::KinematicsConstraintAware::convertServiceRequest	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const moveit_msgs::GetConstraintAwarePositionIK::Request &	request,
		kinematics_constraint_aware::KinematicsRequest &	kinematics_request,
		kinematics_constraint_aware::KinematicsResponse &	kinematics_response
	)		const `[private]`

Definition at line 277 of file kinematics_constraint_aware.cpp.

const std::string& kinematics_constraint_aware::KinematicsConstraintAware::getGroupName ( ) const [inline]

Definition at line 101 of file kinematics_constraint_aware.h.

bool kinematics_constraint_aware::KinematicsConstraintAware::getIK	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const kinematics_constraint_aware::KinematicsRequest &	request,
		kinematics_constraint_aware::KinematicsResponse &	response
	)		const

Solve the planning problem.

Parameters:

planning_scene	A const reference to the planning scene
request	A const reference to the kinematics request
response	The solution (if it exists)

Returns:: False if group_name is invalid or ik fails

Definition at line 100 of file kinematics_constraint_aware.cpp.

bool kinematics_constraint_aware::KinematicsConstraintAware::getIK	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const moveit_msgs::GetConstraintAwarePositionIK::Request &	request,
		moveit_msgs::GetConstraintAwarePositionIK::Response &	response
	)		const

Solve the planning problem.

Parameters:

planning_scene	A const reference to the planning scene
request	A const reference to the kinematics request
response	The solution (if it exists)

Returns:: False if group_name is invalid or ik fails

Definition at line 246 of file kinematics_constraint_aware.cpp.

const robot_model::RobotModelConstPtr& kinematics_constraint_aware::KinematicsConstraintAware::getRobotModel ( ) const [inline]

Definition at line 106 of file kinematics_constraint_aware.h.

geometry_msgs::Pose kinematics_constraint_aware::KinematicsConstraintAware::getTipFramePose	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const robot_state::RobotState &	kinematic_state,
		const geometry_msgs::Pose &	pose,
		const std::string &	link_name,
		unsigned int	sub_group_index
	)		const `[private]`

Definition at line 353 of file kinematics_constraint_aware.cpp.

EigenSTL::vector_Affine3d kinematics_constraint_aware::KinematicsConstraintAware::transformPoses	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const robot_state::RobotState &	kinematic_state,
		const std::vector< geometry_msgs::PoseStamped > &	poses,
		const std::string &	target_frame
	)		const `[private]`

Definition at line 331 of file kinematics_constraint_aware.cpp.

bool kinematics_constraint_aware::KinematicsConstraintAware::validityCallbackFn	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const kinematics_constraint_aware::KinematicsRequest &	request,
		kinematics_constraint_aware::KinematicsResponse &	response,
		robot_state::JointStateGroup *	joint_state_group,
		const std::vector< double > &	joint_group_variable_values
	)		const `[private]`