ikfast61_moveit_plugin_template.cpp File Reference

#include <ros/ros.h>
#include <moveit/kinematics_base/kinematics_base.h>
#include <urdf/model.h>
#include <tf_conversions/tf_kdl.h>
#include "_ROBOT_NAME___GROUP_NAME__ikfast_solver.cpp"
#include <pluginlib/class_list_macros.hpp>

Include dependency graph for ikfast61_moveit_plugin_template.cpp:

Go to the source code of this file.

Classes
class	ikfast_kinematics_plugin::IKFastKinematicsPlugin
struct	ikfast_kinematics_plugin::LimitObeyingSol

Namespaces
	ikfast_kinematics_plugin

Macros
#define	IKFAST_NO_MAIN

Enumerations
enum	ikfast_kinematics_plugin::IkParameterizationType {   ikfast_kinematics_plugin::IKP_None = 0, ikfast_kinematics_plugin::IKP_Transform6D = 0x67000001, ikfast_kinematics_plugin::IKP_Rotation3D = 0x34000002, ikfast_kinematics_plugin::IKP_Translation3D = 0x33000003,   ikfast_kinematics_plugin::IKP_Direction3D = 0x23000004, ikfast_kinematics_plugin::IKP_Ray4D = 0x46000005, ikfast_kinematics_plugin::IKP_Lookat3D = 0x23000006, ikfast_kinematics_plugin::IKP_TranslationDirection5D = 0x56000007,   ikfast_kinematics_plugin::IKP_TranslationXY2D = 0x22000008, ikfast_kinematics_plugin::IKP_TranslationXYOrientation3D = 0x33000009, ikfast_kinematics_plugin::IKP_TranslationLocalGlobal6D = 0x3600000a, ikfast_kinematics_plugin::IKP_TranslationXAxisAngle4D = 0x4400000b,   ikfast_kinematics_plugin::IKP_TranslationYAxisAngle4D = 0x4400000c, ikfast_kinematics_plugin::IKP_TranslationZAxisAngle4D = 0x4400000d, ikfast_kinematics_plugin::IKP_TranslationXAxisAngleZNorm4D = 0x4400000e, ikfast_kinematics_plugin::IKP_TranslationYAxisAngleXNorm4D = 0x4400000f,   ikfast_kinematics_plugin::IKP_TranslationZAxisAngleYNorm4D = 0x44000010, ikfast_kinematics_plugin::IKP_NumberOfParameterizations = 16, ikfast_kinematics_plugin::IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_Transform6DVelocity = IKP_Transform6D | IKP_VelocityDataBit,   ikfast_kinematics_plugin::IKP_Rotation3DVelocity = IKP_Rotation3D | IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_Translation3DVelocity = IKP_Translation3D | IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_Direction3DVelocity = IKP_Direction3D | IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_Ray4DVelocity = IKP_Ray4D | IKP_VelocityDataBit,   ikfast_kinematics_plugin::IKP_Lookat3DVelocity = IKP_Lookat3D | IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationDirection5DVelocity = IKP_TranslationDirection5D | IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationXY2DVelocity = IKP_TranslationXY2D | IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationXYOrientation3DVelocity = IKP_TranslationXYOrientation3D | IKP_VelocityDataBit,   ikfast_kinematics_plugin::IKP_TranslationLocalGlobal6DVelocity = IKP_TranslationLocalGlobal6D | IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationXAxisAngle4DVelocity = IKP_TranslationXAxisAngle4D | IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationYAxisAngle4DVelocity = IKP_TranslationYAxisAngle4D | IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationZAxisAngle4DVelocity = IKP_TranslationZAxisAngle4D | IKP_VelocityDataBit,   ikfast_kinematics_plugin::IKP_TranslationXAxisAngleZNorm4DVelocity = IKP_TranslationXAxisAngleZNorm4D | IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationYAxisAngleXNorm4DVelocity = IKP_TranslationYAxisAngleXNorm4D | IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationZAxisAngleYNorm4DVelocity = IKP_TranslationZAxisAngleYNorm4D | IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_UniqueIdMask = 0x0000ffff,   ikfast_kinematics_plugin::IKP_CustomDataBit = 0x00010000 }
	The types of inverse kinematics parameterizations supported. More...
enum	SEARCH_MODE { OPTIMIZE_FREE_JOINT = 1, OPTIMIZE_MAX_JOINT = 2 }
	Search modes for searchPositionIK(), see there. More...

Functions
	PLUGINLIB_EXPORT_CLASS (ikfast_kinematics_plugin::IKFastKinematicsPlugin, kinematics::KinematicsBase)

Variables
const double	LIMIT_TOLERANCE = .0000001

Macro Definition Documentation

#define IKFAST_NO_MAIN

Definition at line 65 of file ikfast61_moveit_plugin_template.cpp.

Enumeration Type Documentation

enum SEARCH_MODE

Search modes for searchPositionIK(), see there.

Enumerator
OPTIMIZE_FREE_JOINT
OPTIMIZE_MAX_JOINT

Definition at line 57 of file ikfast61_moveit_plugin_template.cpp.

Function Documentation

PLUGINLIB_EXPORT_CLASS	(	ikfast_kinematics_plugin::IKFastKinematicsPlugin	,
		kinematics::KinematicsBase
	)

Variable Documentation

const double LIMIT_TOLERANCE = .0000001

Definition at line 55 of file ikfast61_moveit_plugin_template.cpp.