Public Member Functions
void	getGroupJoints (const std::string &group_name, std::vector< std::string > &group_links)
void	getGroupLinks (const std::string &group_name, std::vector< std::string > &group_links)
	IKTesterFast (planning_environment::CollisionModels *cm=NULL, const std::string &plugin_name="pr2_arm_kinematics/PR2ArmKinematicsPlugin")
void	setPlanningSceneState (planning_models::KinematicState *state)
void	testIKSet (std::string arm_name, const std::vector< geometry_msgs::PoseStamped > &test_poses, bool return_on_first_hit, std::vector< sensor_msgs::JointState > &solutions_arr, std::vector< arm_navigation_msgs::ArmNavigationErrorCodes > &error_codes)
	~IKTesterFast ()
Public Attributes
pluginlib::ClassLoader < kinematics::KinematicsBase >	kinematics_loader_
Protected Member Functions
planning_environment::CollisionModels *	getCollisionModels ()
planning_models::KinematicState *	getPlanningSceneState ()
Protected Attributes
planning_environment::CollisionModels *	cm_
std::map< std::string, arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware * >	ik_solver_map_
unsigned int	redundancy_
planning_models::KinematicState *	state_
ros::Publisher	vis_marker_array_publisher_
ros::Publisher	vis_marker_publisher_

Detailed Description

Definition at line 54 of file ik_tester_fast.h.

Constructor & Destructor Documentation

object_manipulator::IKTesterFast::IKTesterFast	(	planning_environment::CollisionModels *	cm = `NULL`,
		const std::string &	plugin_name = `"pr2_arm_kinematics/PR2ArmKinematicsPlugin"`
	)

Definition at line 45 of file ik_tester_fast.cpp.

object_manipulator::IKTesterFast::~IKTesterFast ( )

Definition at line 82 of file ik_tester_fast.cpp.

planning_environment::CollisionModels * object_manipulator::IKTesterFast::getCollisionModels ( void ) [protected]

Definition at line 91 of file ik_tester_fast.cpp.

void object_manipulator::IKTesterFast::getGroupJoints	(	const std::string &	group_name,
		std::vector< std::string > &	group_links
	)

Definition at line 126 of file ik_tester_fast.cpp.

void object_manipulator::IKTesterFast::getGroupLinks	(	const std::string &	group_name,
		std::vector< std::string > &	group_links
	)

Definition at line 116 of file ik_tester_fast.cpp.

planning_models::KinematicState * object_manipulator::IKTesterFast::getPlanningSceneState ( ) [protected]

Definition at line 99 of file ik_tester_fast.cpp.

void object_manipulator::IKTesterFast::setPlanningSceneState ( planning_models::KinematicState * state ) [inline]

Definition at line 80 of file ik_tester_fast.h.

void object_manipulator::IKTesterFast::testIKSet	(	std::string	arm_name,
		const std::vector< geometry_msgs::PoseStamped > &	test_poses,
		bool	return_on_first_hit,
		std::vector< sensor_msgs::JointState > &	solutions_arr,
		std::vector< arm_navigation_msgs::ArmNavigationErrorCodes > &	error_codes
	)