Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
cached_ik_kinematics_plugin::IKCacheMap Class Reference

#include <cached_ik_kinematics_plugin.h>

Inheritance diagram for cached_ik_kinematics_plugin::IKCacheMap:
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Public Types

using IKEntry = IKCache::IKEntry
 
using Pose = IKCache::Pose
 

Public Member Functions

const IKEntrygetBestApproximateIKSolution (const std::vector< std::string > &fixed, const std::vector< std::string > &active, const std::vector< Pose > &poses) const
 
 IKCacheMap (const std::string &robot_description, const std::string &group_name, unsigned int num_joints)
 
void updateCache (const IKEntry &nearest, const std::vector< std::string > &fixed, const std::vector< std::string > &active, const std::vector< Pose > &poses, const std::vector< double > &config)
 
 ~IKCacheMap ()
 

Protected Member Functions

std::string getKey (const std::vector< std::string > &fixed, const std::vector< std::string > &active) const
 

Protected Attributes

std::string group_name_
 
unsigned int num_joints_
 
std::string robot_description_
 

Detailed Description

a container of IK caches for cases where there is no fixed base frame

Definition at line 149 of file cached_ik_kinematics_plugin.h.

Member Typedef Documentation

Definition at line 152 of file cached_ik_kinematics_plugin.h.

Definition at line 153 of file cached_ik_kinematics_plugin.h.

Constructor & Destructor Documentation

cached_ik_kinematics_plugin::IKCacheMap::IKCacheMap ( const std::string &  robot_description,
const std::string &  group_name,
unsigned int  num_joints 
)

Definition at line 287 of file ik_cache.cpp.

cached_ik_kinematics_plugin::IKCacheMap::~IKCacheMap ( )

Definition at line 292 of file ik_cache.cpp.

Member Function Documentation

const IKCache::IKEntry & cached_ik_kinematics_plugin::IKCacheMap::getBestApproximateIKSolution ( const std::vector< std::string > &  fixed,
const std::vector< std::string > &  active,
const std::vector< Pose > &  poses 
) const

get the entry from the IK cache that best matches a given vector of poses, with a specified set of fixed and active tip links

Definition at line 298 of file ik_cache.cpp.

std::string cached_ik_kinematics_plugin::IKCacheMap::getKey ( const std::vector< std::string > &  fixed,
const std::vector< std::string > &  active 
) const
protected

Definition at line 330 of file ik_cache.cpp.

void cached_ik_kinematics_plugin::IKCacheMap::updateCache ( const IKEntry nearest,
const std::vector< std::string > &  fixed,
const std::vector< std::string > &  active,
const std::vector< Pose > &  poses,
const std::vector< double > &  config 
)

insert (pose,config) as an entry if it's different enough from the most similar cache entry

Definition at line 313 of file ik_cache.cpp.

Member Data Documentation

std::string cached_ik_kinematics_plugin::IKCacheMap::group_name_
protected

Definition at line 175 of file cached_ik_kinematics_plugin.h.

unsigned int cached_ik_kinematics_plugin::IKCacheMap::num_joints_
protected

Definition at line 176 of file cached_ik_kinematics_plugin.h.

std::string cached_ik_kinematics_plugin::IKCacheMap::robot_description_
protected

Definition at line 174 of file cached_ik_kinematics_plugin.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