Public Member Functions | |
void | fillFreeParams (int count, int *array) |
bool | getCount (int &count, const int &max_count, const int &min_count) |
const std::vector< std::string > & | getJointNames () const |
const std::vector< std::string > & | getLinkNames () const |
bool | getPositionFK (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::Pose > &poses) |
bool | getPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, std::vector< double > &solution, int &error_code) |
IKFastKinematicsPlugin () | |
bool | initialize (const std::string &group_name, const std::string &base_name, const std::string &tip_name, const double &search_discretization) |
bool | searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, const double &timeout, std::vector< double > &solution, int &error_code) |
bool | searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, const double &timeout, const unsigned int &redundancy, const double &consistency_limit, std::vector< double > &solution, int &error_code) |
bool | searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, const double &timeout, std::vector< double > &solution, const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &desired_pose_callback, const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &solution_callback, int &error_code) |
bool | searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, const double &timeout, const unsigned int &redundancy, const double &consistency_limit, std::vector< double > &solution, const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &desired_pose_callback, const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &solution_callback, int &error_code) |
~IKFastKinematicsPlugin () | |
Private Attributes | |
void(* | fk )(const IKReal *j, IKReal *eetrans, IKReal *eerot) |
std::vector< int > | free_params_ |
arm_kinematics_constraint_aware::ik_solver_base * | ik_solver_ |
std::vector< bool > | joint_has_limits_vector_ |
std::vector< double > | joint_max_vector_ |
std::vector< double > | joint_min_vector_ |
std::vector< std::string > | joint_names_ |
std::vector< std::string > | link_names_ |
size_t | num_joints_ |
Definition at line 12 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.
Definition at line 26 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.
Definition at line 27 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.
void ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::fillFreeParams | ( | int | count, |
int * | array | ||
) | [inline] |
Definition at line 29 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.
bool ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::getCount | ( | int & | count, |
const int & | max_count, | ||
const int & | min_count | ||
) | [inline] |
Definition at line 126 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.
const std::vector<std::string>& ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::getJointNames | ( | ) | const [inline] |
Definition at line 634 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.
const std::vector<std::string>& ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::getLinkNames | ( | ) | const [inline] |
Definition at line 635 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.
bool ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::getPositionFK | ( | const std::vector< std::string > & | link_names, |
const std::vector< double > & | joint_angles, | ||
std::vector< geometry_msgs::Pose > & | poses | ||
) | [inline, virtual] |
Implements kinematics::KinematicsBase.
Definition at line 605 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.
bool ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::getPositionIK | ( | const geometry_msgs::Pose & | ik_pose, |
const std::vector< double > & | ik_seed_state, | ||
std::vector< double > & | solution, | ||
int & | error_code | ||
) | [inline, virtual] |
Implements kinematics::KinematicsBase.
Definition at line 164 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.
bool ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::initialize | ( | const std::string & | group_name, |
const std::string & | base_name, | ||
const std::string & | tip_name, | ||
const double & | search_discretization | ||
) | [inline] |
Definition at line 31 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.
bool ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::searchPositionIK | ( | const geometry_msgs::Pose & | ik_pose, |
const std::vector< double > & | ik_seed_state, | ||
const double & | timeout, | ||
std::vector< double > & | solution, | ||
int & | error_code | ||
) | [inline, virtual] |
Implements kinematics::KinematicsBase.
Definition at line 205 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.
bool ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::searchPositionIK | ( | const geometry_msgs::Pose & | ik_pose, |
const std::vector< double > & | ik_seed_state, | ||
const double & | timeout, | ||
const unsigned int & | redundancy, | ||
const double & | consistency_limit, | ||
std::vector< double > & | solution, | ||
int & | error_code | ||
) | [inline] |
Definition at line 292 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.
bool ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::searchPositionIK | ( | const geometry_msgs::Pose & | ik_pose, |
const std::vector< double > & | ik_seed_state, | ||
const double & | timeout, | ||
std::vector< double > & | solution, | ||
const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> & | desired_pose_callback, | ||
const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> & | solution_callback, | ||
int & | error_code | ||
) | [inline, virtual] |
Implements kinematics::KinematicsBase.
Definition at line 389 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.
bool ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::searchPositionIK | ( | const geometry_msgs::Pose & | ik_pose, |
const std::vector< double > & | ik_seed_state, | ||
const double & | timeout, | ||
const unsigned int & | redundancy, | ||
const double & | consistency_limit, | ||
std::vector< double > & | solution, | ||
const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> & | desired_pose_callback, | ||
const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> & | solution_callback, | ||
int & | error_code | ||
) | [inline] |
Definition at line 492 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.
void(* ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::fk)(const IKReal *j, IKReal *eetrans, IKReal *eerot) [private] |
Definition at line 22 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.
Definition at line 21 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.
arm_kinematics_constraint_aware::ik_solver_base* ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::ik_solver_ [private] |
Definition at line 19 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.
std::vector<bool> ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::joint_has_limits_vector_ [private] |
Definition at line 17 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.
std::vector<double> ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::joint_max_vector_ [private] |
Definition at line 16 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.
std::vector<double> ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::joint_min_vector_ [private] |
Definition at line 15 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.
std::vector<std::string> ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::joint_names_ [private] |
Definition at line 14 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.
std::vector<std::string> ADEPT_VIPER_S650_arm_1_kinematics::IKFastKinematicsPlugin::link_names_ [private] |
Definition at line 18 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.
Definition at line 20 of file ADEPT_VIPER_S650_arm_1_ikfast_plugin.cpp.