arm_kinematics_constraint_aware::ArmKinematicsConstraintAware Class Reference

#include <arm_kinematics_constraint_aware.h>

Public Member Functions
	ArmKinematicsConstraintAware ()
bool	getConstraintAwarePositionIK (kinematics_msgs::GetConstraintAwarePositionIK::Request &request, kinematics_msgs::GetConstraintAwarePositionIK::Response &response)
	This method searches for and returns the closest solution to the initial guess in the first set of solutions it finds.
bool	getFKSolverInfo (kinematics_msgs::GetKinematicSolverInfo::Request &request, kinematics_msgs::GetKinematicSolverInfo::Response &response)
bool	getIKSolverInfo (kinematics_msgs::GetKinematicSolverInfo::Request &request, kinematics_msgs::GetKinematicSolverInfo::Response &response)
bool	getPositionFK (kinematics_msgs::GetPositionFK::Request &request, kinematics_msgs::GetPositionFK::Response &response)
bool	getPositionIK (kinematics_msgs::GetPositionIK::Request &request, kinematics_msgs::GetPositionIK::Response &response)
bool	isActive ()
virtual	~ArmKinematicsConstraintAware ()
Private Member Functions
void	advertiseBaseKinematicsServices ()
void	advertiseConstraintIKService ()
void	collisionCheck (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)
void	initialPoseCheck (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)
bool	isReady (arm_navigation_msgs::ArmNavigationErrorCodes &error_code)
void	printStringVec (const std::string &prefix, const std::vector< std::string > &string_vector)
void	sendEndEffectorPose (const planning_models::KinematicState *state, bool valid)
Private Attributes
bool	active_
std::vector< std::string >	arm_links_
kinematics_msgs::KinematicSolverInfo	chain_info_
planning_environment::CollisionModelsInterface *	collision_models_interface_
arm_navigation_msgs::Constraints	constraints_
ros::Publisher	display_trajectory_publisher_
std::vector< std::string >	end_effector_collision_links_
ros::ServiceServer	fk_service_
ros::ServiceServer	fk_solver_info_service_
std::string	group_
ros::ServiceServer	ik_collision_service_
kinematics_msgs::PositionIKRequest	ik_request_
ros::ServiceServer	ik_service_
ros::ServiceServer	ik_solver_info_service_
pluginlib::ClassLoader < kinematics::KinematicsBase >	kinematics_loader_
kinematics::KinematicsBase *	kinematics_solver_
ros::NodeHandle	node_handle_
ros::NodeHandle	root_handle_
std::string	root_name_
bool	use_collision_map_
ros::Publisher	vis_marker_array_publisher_
ros::Publisher	vis_marker_publisher_
bool	visualize_solution_

Detailed Description

Definition at line 67 of file arm_kinematics_constraint_aware.h.

Constructor & Destructor Documentation

arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::ArmKinematicsConstraintAware ( )

Definition at line 51 of file arm_kinematics_constraint_aware.cpp.

virtual arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::~ArmKinematicsConstraintAware ( ) [inline, virtual]

Definition at line 83 of file arm_kinematics_constraint_aware.h.

Member Function Documentation

void arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::advertiseBaseKinematicsServices ( ) [private]

Definition at line 106 of file arm_kinematics_constraint_aware.cpp.

void arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::advertiseConstraintIKService ( ) [private]

Definition at line 114 of file arm_kinematics_constraint_aware.cpp.

void arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::collisionCheck	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_solution,
		int &	error_code
	)			`[private]`

Definition at line 220 of file arm_kinematics_constraint_aware.cpp.

bool arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::getConstraintAwarePositionIK	(	kinematics_msgs::GetConstraintAwarePositionIK::Request &	request,
		kinematics_msgs::GetConstraintAwarePositionIK::Response &	response
	)

This method searches for and returns the closest solution to the initial guess in the first set of solutions it finds.

Returns:: < 0 if no solution is found

Parameters:

	q_in	The initial guess for the inverse kinematics solution. The solver uses the joint value q_init(pr2_ik_->free_angle_) as as an input to the inverse kinematics. pr2_ik_->free_angle_ can either be 0 or 2 corresponding to the shoulder pan or shoulder roll angle
	p_in	A KDL::Frame representation of the position of the end-effector for which the IK is being solved.
	q_out	A std::vector of KDL::JntArray containing all found solutions.
	timeout	The amount of time (in seconds) to spend looking for a solution.

Definition at line 136 of file arm_kinematics_constraint_aware.cpp.

bool arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::getFKSolverInfo	(	kinematics_msgs::GetKinematicSolverInfo::Request &	request,
		kinematics_msgs::GetKinematicSolverInfo::Response &	response
	)

Definition at line 430 of file arm_kinematics_constraint_aware.cpp.

bool arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::getIKSolverInfo	(	kinematics_msgs::GetKinematicSolverInfo::Request &	request,
		kinematics_msgs::GetKinematicSolverInfo::Response &	response
	)

Definition at line 418 of file arm_kinematics_constraint_aware.cpp.

bool arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::getPositionFK	(	kinematics_msgs::GetPositionFK::Request &	request,
		kinematics_msgs::GetPositionFK::Response &	response
	)

Definition at line 442 of file arm_kinematics_constraint_aware.cpp.

bool arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::getPositionIK	(	kinematics_msgs::GetPositionIK::Request &	request,
		kinematics_msgs::GetPositionIK::Response &	response
	)

Definition at line 354 of file arm_kinematics_constraint_aware.cpp.

void arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::initialPoseCheck	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_solution,
		int &	error_code
	)			`[private]`

Definition at line 245 of file arm_kinematics_constraint_aware.cpp.

bool arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::isActive ( ) [inline]

Definition at line 114 of file arm_kinematics_constraint_aware.h.

bool arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::isReady ( arm_navigation_msgs::ArmNavigationErrorCodes & error_code ) [private]

Definition at line 120 of file arm_kinematics_constraint_aware.cpp.

void arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::printStringVec	(	const std::string &	prefix,
		const std::vector< std::string > &	string_vector
	)			`[private]`

Definition at line 345 of file arm_kinematics_constraint_aware.cpp.

void arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::sendEndEffectorPose	(	const planning_models::KinematicState *	state,
		bool	valid
	)			`[private]`