fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.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 "fanuc_m430ia2p_manipulator_ikfast_solver.cpp"
#include <pluginlib/class_list_macros.h>

Include dependency graph for fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp:

Go to the source code of this file.

Classes
class	ikfast_kinematics_plugin::IKFastKinematicsPlugin

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 = 0x00008000, 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, 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 = 0x00008000,   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...

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

Variables
const double	LIMIT_TOLERANCE = .0000001

Macro Definition Documentation

IKFAST_NO_MAIN

#define IKFAST_NO_MAIN

Definition at line 59 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

Function Documentation

PLUGINLIB_EXPORT_CLASS()

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

Variable Documentation

LIMIT_TOLERANCE

const double LIMIT_TOLERANCE = .0000001

Definition at line 54 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.