Public Member Functions
bool	getPositionFK (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::Pose > &poses)
	Given a set of joint angles and a set of links, compute their pose.
bool	getPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, std::vector< double > &solution, int &error_code)
	Given a desired pose of the end-effector, compute the joint angles to reach it.
	IKFastKinematicsPlugin ()
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)
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).
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)
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).
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)
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).
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)
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines). The consistency_limit specifies that only certain redundancy positions around those specified in the seed state are admissible and need to be searched.
Private Member Functions
void	fillFreeParams (int count, int *array)
void	getClosestSolution (const std::vector< double > &ik_seed_state, std::vector< double > &solution)
int	getClosestSolutionIndex (const std::vector< double > &ik_seed_state, const std::vector< std::vector< double > > &solutions)
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
void	getSolution (int i, std::vector< double > &solution)
	Gets a specific solution from the set.
double	harmonize (const std::vector< double > &ik_seed_state, std::vector< double > &solution)
double	harmonize_old (const std::vector< double > &ik_seed_state, std::vector< double > &solution)
bool	initialize (const std::string &group_name, const std::string &base_name, const std::string &tip_name, const double &search_discretization)
int	solve (KDL::Frame &pose_frame, const std::vector< double > &vfree)
	Calls the IK solver from IKFast.
Private Attributes
std::vector< int >	free_params_
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_
IkSolutionList< IkReal >	solutions_

Detailed Description

Definition at line 78 of file M16iB20_manipulator_ikfast_plugin.cpp.

Constructor & Destructor Documentation

M16iB20_manipulator_kinematics::IKFastKinematicsPlugin::IKFastKinematicsPlugin ( ) [inline]

Definition at line 99 of file M16iB20_manipulator_ikfast_plugin.cpp.

Member Function Documentation

void M16iB20_manipulator_kinematics::IKFastKinematicsPlugin::fillFreeParams	(	int	count,
		int *	array
	)		`[private]`

Definition at line 446 of file M16iB20_manipulator_ikfast_plugin.cpp.

void M16iB20_manipulator_kinematics::IKFastKinematicsPlugin::getClosestSolution	(	const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution
	)		`[private]`

Definition at line 401 of file M16iB20_manipulator_ikfast_plugin.cpp.

int M16iB20_manipulator_kinematics::IKFastKinematicsPlugin::getClosestSolutionIndex	(	const std::vector< double > &	ik_seed_state,
		const std::vector< std::vector< double > > &	solutions
	)		`[private]`

Definition at line 425 of file M16iB20_manipulator_ikfast_plugin.cpp.

bool M16iB20_manipulator_kinematics::IKFastKinematicsPlugin::getCount	(	int &	count,
		const int &	max_count,
		const int &	min_count
	)		`[private]`

Definition at line 452 of file M16iB20_manipulator_ikfast_plugin.cpp.

const std::vector<std::string>& M16iB20_manipulator_kinematics::IKFastKinematicsPlugin::getJointNames ( ) const [inline, private]

Definition at line 91 of file M16iB20_manipulator_ikfast_plugin.cpp.

const std::vector<std::string>& M16iB20_manipulator_kinematics::IKFastKinematicsPlugin::getLinkNames ( ) const [inline, private]

Definition at line 92 of file M16iB20_manipulator_ikfast_plugin.cpp.

bool M16iB20_manipulator_kinematics::IKFastKinematicsPlugin::getPositionFK	(	const std::vector< std::string > &	link_names,
		const std::vector< double > &	joint_angles,
		std::vector< geometry_msgs::Pose > &	poses
	)

Given a set of joint angles and a set of links, compute their pose.

Parameters:

link_names	- set of links for which poses are to be computed
joint_angles	- current joint angles the response contains stamped pose information for all the requested links

Returns:: True if a valid solution was found, false otherwise

Definition at line 488 of file M16iB20_manipulator_ikfast_plugin.cpp.

bool M16iB20_manipulator_kinematics::IKFastKinematicsPlugin::getPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution,
		int &	error_code
	)

Given a desired pose of the end-effector, compute the joint angles to reach it.

Parameters:

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics

Returns:: True if a valid solution was found, false otherwise

Definition at line 520 of file M16iB20_manipulator_ikfast_plugin.cpp.

void M16iB20_manipulator_kinematics::IKFastKinematicsPlugin::getSolution	(	int	i,
		std::vector< double > &	solution
	)		`[private]`

Gets a specific solution from the set.

Definition at line 350 of file M16iB20_manipulator_ikfast_plugin.cpp.

double M16iB20_manipulator_kinematics::IKFastKinematicsPlugin::harmonize	(	const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution
	)		`[private]`

Definition at line 391 of file M16iB20_manipulator_ikfast_plugin.cpp.

double M16iB20_manipulator_kinematics::IKFastKinematicsPlugin::harmonize_old	(	const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution
	)		`[private]`

Definition at line 368 of file M16iB20_manipulator_ikfast_plugin.cpp.

bool M16iB20_manipulator_kinematics::IKFastKinematicsPlugin::initialize	(	const std::string &	group_name,
		const std::string &	base_name,
		const std::string &	tip_name,
		const double &	search_discretization
	)		`[private]`

Definition at line 225 of file M16iB20_manipulator_ikfast_plugin.cpp.

bool M16iB20_manipulator_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
	)

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters:

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics

Returns:: True if a valid solution was found, false otherwise

Definition at line 582 of file M16iB20_manipulator_ikfast_plugin.cpp.

bool M16iB20_manipulator_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
	)

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters:

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics
the	distance that the redundancy can be from the current position

Returns:: True if a valid solution was found, false otherwise

Definition at line 671 of file M16iB20_manipulator_ikfast_plugin.cpp.

bool M16iB20_manipulator_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
	)

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters:

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics

Returns:: True if a valid solution was found, false otherwise

Definition at line 774 of file M16iB20_manipulator_ikfast_plugin.cpp.

bool M16iB20_manipulator_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
	)

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines). The consistency_limit specifies that only certain redundancy positions around those specified in the seed state are admissible and need to be searched.

Parameters:

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics
consistency_limit	the distance that the redundancy can be from the current position