kinematics_service_capability.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_MOVE_GROUP_KINEMATICS_SERVICE_CAPABILITY_
38 #define MOVEIT_MOVE_GROUP_KINEMATICS_SERVICE_CAPABILITY_
39 
41 #include <moveit_msgs/GetPositionIK.h>
42 #include <moveit_msgs/GetPositionFK.h>
43 
44 namespace move_group
45 {
47 {
48 public:
50 
51  virtual void initialize();
52 
53 private:
54  bool computeIKService(moveit_msgs::GetPositionIK::Request& req, moveit_msgs::GetPositionIK::Response& res);
55  bool computeFKService(moveit_msgs::GetPositionFK::Request& req, moveit_msgs::GetPositionFK::Response& res);
56 
57  void computeIK(
58  moveit_msgs::PositionIKRequest& req, moveit_msgs::RobotState& solution, moveit_msgs::MoveItErrorCodes& error_code,
59  robot_state::RobotState& rs,
60  const robot_state::GroupStateValidityCallbackFn& constraint = robot_state::GroupStateValidityCallbackFn()) const;
61 
64 };
65 }
66 
67 #endif
bool computeIKService(moveit_msgs::GetPositionIK::Request &req, moveit_msgs::GetPositionIK::Response &res)
void computeIK(moveit_msgs::PositionIKRequest &req, moveit_msgs::RobotState &solution, moveit_msgs::MoveItErrorCodes &error_code, robot_state::RobotState &rs, const robot_state::GroupStateValidityCallbackFn &constraint=robot_state::GroupStateValidityCallbackFn()) const
bool computeFKService(moveit_msgs::GetPositionFK::Request &req, moveit_msgs::GetPositionFK::Response &res)


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Tue Jun 12 2018 02:48:50