Public Types | Public Member Functions | List of all members
cached_ik_kinematics_plugin::CachedMultiTipIKKinematicsPlugin< KinematicsPlugin > Class Template Reference

#include <cached_ik_kinematics_plugin.h>

Inheritance diagram for cached_ik_kinematics_plugin::CachedMultiTipIKKinematicsPlugin< KinematicsPlugin >:
Inheritance graph
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Public Types

using IKCallbackFn = kinematics::KinematicsBase::IKCallbackFn
 
using IKEntry = IKCache::IKEntry
 
using KinematicsQueryOptions = kinematics::KinematicsQueryOptions
 
using Pose = IKCache::Pose
 
- Public Types inherited from cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >
using IKCallbackFn = kinematics::KinematicsBase::IKCallbackFn
 
using IKEntry = IKCache::IKEntry
 
using KinematicsQueryOptions = kinematics::KinematicsQueryOptions
 
using Pose = IKCache::Pose
 

Public Member Functions

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) override
 
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 KinematicsQueryOptions &options=KinematicsQueryOptions(), const moveit::core::RobotState *context_state=nullptr) const override
 
- Public Member Functions inherited from cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >
 CachedIKKinematicsPlugin ()
 
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 KinematicsQueryOptions &options=KinematicsQueryOptions()) const override
 
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) override
 
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 KinematicsQueryOptions &options=KinematicsQueryOptions()) const override
 
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 KinematicsQueryOptions &options=KinematicsQueryOptions()) const override
 
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 KinematicsQueryOptions &options=KinematicsQueryOptions()) const override
 
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 KinematicsQueryOptions &options=KinematicsQueryOptions()) const override
 
 ~CachedIKKinematicsPlugin ()
 

Additional Inherited Members

- Protected Attributes inherited from cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >
IKCache cache_
 

Detailed Description

template<class KinematicsPlugin>
class cached_ik_kinematics_plugin::CachedMultiTipIKKinematicsPlugin< KinematicsPlugin >

Caching wrapper for IK solvers that implement the multi-tip API.

Most solvers don't implement this, so the CachedIKKinematicsPlugin base class simply doesn't wrap the relevant methods and the implementation in the abstract base class will be called. Ideally, the two cache wrapper classes would be combined, but it's tricky to call a method in kinematics::KinematicsBase or KinematicsPlugin depending on whether KinematicsPlugin has overridden that method or not (although it can be done with some template meta-programming).

Definition at line 237 of file cached_ik_kinematics_plugin.h.

Member Typedef Documentation

Definition at line 242 of file cached_ik_kinematics_plugin.h.

template<class KinematicsPlugin >
using cached_ik_kinematics_plugin::CachedMultiTipIKKinematicsPlugin< KinematicsPlugin >::IKEntry = IKCache::IKEntry

Definition at line 241 of file cached_ik_kinematics_plugin.h.

Definition at line 243 of file cached_ik_kinematics_plugin.h.

template<class KinematicsPlugin >
using cached_ik_kinematics_plugin::CachedMultiTipIKKinematicsPlugin< KinematicsPlugin >::Pose = IKCache::Pose

Definition at line 240 of file cached_ik_kinematics_plugin.h.

Member Function Documentation

template<class KinematicsPlugin >
bool cached_ik_kinematics_plugin::CachedMultiTipIKKinematicsPlugin< KinematicsPlugin >::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 
)
override

Definition at line 85 of file cached_ik_kinematics_plugin-inl.h.

template<class KinematicsPlugin >
bool cached_ik_kinematics_plugin::CachedMultiTipIKKinematicsPlugin< KinematicsPlugin >::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 KinematicsQueryOptions options = KinematicsQueryOptions(),
const moveit::core::RobotState context_state = nullptr 
) const
override

Definition at line 213 of file cached_ik_kinematics_plugin-inl.h.


The documentation for this class was generated from the following files:


moveit_kinematics
Author(s): Dave Coleman , Ioan Sucan , Sachin Chitta
autogenerated on Sun Sep 15 2019 03:58:37