Public Member Functions | Private Attributes | List of all members
kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl Class Reference

Public Member Functions

kinematics::KinematicsBasePtr allocKinematicsSolver (const robot_model::JointModelGroup *jmg)
 
kinematics::KinematicsBasePtr allocKinematicsSolverWithCache (const robot_model::JointModelGroup *jmg)
 
std::vector< std::string > chooseTipFrames (const robot_model::JointModelGroup *jmg)
 Helper function to decide which, and how many, tip frames a planning group has. More...
 
 KinematicsLoaderImpl (const std::string &robot_description, const std::map< std::string, std::vector< std::string > > &possible_kinematics_solvers, const std::map< std::string, std::vector< double > > &search_res, const std::map< std::string, std::vector< std::string > > &iksolver_to_tip_links)
 Pimpl Implementation of KinematicsLoader. More...
 
void status () const
 

Private Attributes

boost::mutex cache_lock_
 
std::map< std::string, std::vector< std::string > > iksolver_to_tip_links_
 
std::map< const robot_model::JointModelGroup *, kinematics::KinematicsBasePtr > instances_
 
std::shared_ptr< pluginlib::ClassLoader< kinematics::KinematicsBase > > kinematics_loader_
 
boost::mutex lock_
 
std::map< std::string, std::vector< std::string > > possible_kinematics_solvers_
 
std::string robot_description_
 
std::map< std::string, std::vector< double > > search_res_
 

Detailed Description

Definition at line 52 of file kinematics_plugin_loader.cpp.

Constructor & Destructor Documentation

◆ KinematicsLoaderImpl()

kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::KinematicsLoaderImpl ( const std::string &  robot_description,
const std::map< std::string, std::vector< std::string > > &  possible_kinematics_solvers,
const std::map< std::string, std::vector< double > > &  search_res,
const std::map< std::string, std::vector< std::string > > &  iksolver_to_tip_links 
)
inline

Pimpl Implementation of KinematicsLoader.

Parameters
robot_description
possible_kinematics_solvers
search_res
iksolver_to_tip_links- a map between each ik solver and a vector of custom-specified tip link(s)

Definition at line 62 of file kinematics_plugin_loader.cpp.

Member Function Documentation

◆ allocKinematicsSolver()

kinematics::KinematicsBasePtr kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::allocKinematicsSolver ( const robot_model::JointModelGroup *  jmg)
inline

Definition at line 127 of file kinematics_plugin_loader.cpp.

◆ allocKinematicsSolverWithCache()

kinematics::KinematicsBasePtr kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::allocKinematicsSolverWithCache ( const robot_model::JointModelGroup *  jmg)
inline

Definition at line 214 of file kinematics_plugin_loader.cpp.

◆ chooseTipFrames()

std::vector<std::string> kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::chooseTipFrames ( const robot_model::JointModelGroup *  jmg)
inline

Helper function to decide which, and how many, tip frames a planning group has.

Parameters
jmg- joint model group pointer
Returns
tips - list of valid links in a planning group to plan for

Definition at line 87 of file kinematics_plugin_loader.cpp.

◆ status()

void kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::status ( ) const
inline

Definition at line 226 of file kinematics_plugin_loader.cpp.

Member Data Documentation

◆ cache_lock_

boost::mutex kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::cache_lock_
private

Definition at line 244 of file kinematics_plugin_loader.cpp.

◆ iksolver_to_tip_links_

std::map<std::string, std::vector<std::string> > kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::iksolver_to_tip_links_
private

Definition at line 239 of file kinematics_plugin_loader.cpp.

◆ instances_

std::map<const robot_model::JointModelGroup*, kinematics::KinematicsBasePtr> kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::instances_
private

Definition at line 242 of file kinematics_plugin_loader.cpp.

◆ kinematics_loader_

std::shared_ptr<pluginlib::ClassLoader<kinematics::KinematicsBase> > kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::kinematics_loader_
private

Definition at line 241 of file kinematics_plugin_loader.cpp.

◆ lock_

boost::mutex kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::lock_
private

Definition at line 243 of file kinematics_plugin_loader.cpp.

◆ possible_kinematics_solvers_

std::map<std::string, std::vector<std::string> > kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::possible_kinematics_solvers_
private

Definition at line 237 of file kinematics_plugin_loader.cpp.

◆ robot_description_

std::string kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::robot_description_
private

Definition at line 236 of file kinematics_plugin_loader.cpp.

◆ search_res_

std::map<std::string, std::vector<double> > kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::search_res_
private

Definition at line 238 of file kinematics_plugin_loader.cpp.


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


planning
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Sat Sep 14 2019 03:56:20