moveit::core::JointModelGroup::KinematicsSolver Struct Reference

#include <joint_model_group.h>

Public Member Functions
	KinematicsSolver ()
	operator bool () const
	Return a flag indicating whether the state of the solver is initialized. More...
void	reset ()

Public Attributes
SolverAllocatorFn	allocator_
	Function type that allocates a kinematics solver for a particular group. More...
std::vector< unsigned int >	bijection_
	The mapping between the order of the joints in the group and the order of the joints in the kinematics solver. An element bijection[i] at index i in this array, maps the variable at index bijection[i] in this group to the variable at index i in the kinematic solver. More...
unsigned int	default_ik_attempts_
double	default_ik_timeout_
kinematics::KinematicsBasePtr	solver_instance_
kinematics::KinematicsBaseConstPtr	solver_instance_const_

Detailed Description

Definition at line 72 of file joint_model_group.h.

Constructor & Destructor Documentation

moveit::core::JointModelGroup::KinematicsSolver::KinematicsSolver ( )

inline

Definition at line 74 of file joint_model_group.h.

Member Function Documentation

moveit::core::JointModelGroup::KinematicsSolver::operator bool ( ) const

inline

Return a flag indicating whether the state of the solver is initialized.

Definition at line 79 of file joint_model_group.h.

void moveit::core::JointModelGroup::KinematicsSolver::reset ( )

inline

Definition at line 84 of file joint_model_group.h.

Member Data Documentation

SolverAllocatorFn moveit::core::JointModelGroup::KinematicsSolver::allocator_

Function type that allocates a kinematics solver for a particular group.

Definition at line 92 of file joint_model_group.h.

std::vector<unsigned int> moveit::core::JointModelGroup::KinematicsSolver::bijection_

The mapping between the order of the joints in the group and the order of the joints in the kinematics solver. An element bijection[i] at index i in this array, maps the variable at index bijection[i] in this group to the variable at index i in the kinematic solver.

Definition at line 99 of file joint_model_group.h.

unsigned int moveit::core::JointModelGroup::KinematicsSolver::default_ik_attempts_

Definition at line 107 of file joint_model_group.h.

double moveit::core::JointModelGroup::KinematicsSolver::default_ik_timeout_

Definition at line 105 of file joint_model_group.h.

kinematics::KinematicsBasePtr moveit::core::JointModelGroup::KinematicsSolver::solver_instance_

Definition at line 103 of file joint_model_group.h.

kinematics::KinematicsBaseConstPtr moveit::core::JointModelGroup::KinematicsSolver::solver_instance_const_

Definition at line 101 of file joint_model_group.h.

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

• joint_model_group.h