Inheritance diagram for eus_kinematics::EusKinematicsPlugin:

Public Member Functions
	EusKinematicsPlugin ()
bool	getPositionFK (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::Pose > &poses) const
	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, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
	Given a desired pose of the end-effector, compute the joint angles to reach it.
bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, std::vector< double > &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
	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, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
	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, double timeout, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
	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, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
	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	ComputeFkEus (void) const
int	ComputeIkEus (const geometry_msgs::Pose ik_pose, std::vector< double > &result_angle) const
const std::vector< std::string > &	getJointNames () const
const std::vector< std::string > &	getLinkNames () const
bool	initialize (const std::string &robot_description, const std::string &group_name, const std::string &base_name, const std::string &tip_name, double search_discretization)
Private Attributes
bool	active_
boost::shared_ptr < ros::ServiceClient >	ik_service_client
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_

Detailed Description

Definition at line 29 of file eus_kinematics_plugin.cpp.

Constructor & Destructor Documentation

eus_kinematics::EusKinematicsPlugin::EusKinematicsPlugin ( ) [inline]

Definition at line 49 of file eus_kinematics_plugin.cpp.

Member Function Documentation

void eus_kinematics::EusKinematicsPlugin::ComputeFkEus ( void ) const [private]

Definition at line 416 of file eus_kinematics_plugin.cpp.

int eus_kinematics::EusKinematicsPlugin::ComputeIkEus	(	const geometry_msgs::Pose	ik_pose,
		std::vector< double > &	result_angle
	)		const `[private]`

Definition at line 389 of file eus_kinematics_plugin.cpp.

const std::vector<std::string>& eus_kinematics::EusKinematicsPlugin::getJointNames ( ) const [inline, private, virtual]

Implements kinematics::KinematicsBase.

Definition at line 39 of file eus_kinematics_plugin.cpp.

const std::vector<std::string>& eus_kinematics::EusKinematicsPlugin::getLinkNames ( ) const [inline, private, virtual]

Implements kinematics::KinematicsBase.

Definition at line 40 of file eus_kinematics_plugin.cpp.

bool eus_kinematics::EusKinematicsPlugin::getPositionFK	(	const std::vector< std::string > &	link_names,
		const std::vector< double > &	joint_angles,
		std::vector< geometry_msgs::Pose > &	poses
	)		const `[virtual]`

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

This FK routine is only used if 'use_plugin_fk' is set in the 'arm_kinematics_constraint_aware' node, otherwise ROS TF is used to calculate the forward kinematics

Parameters:

link_names	A set of links for which FK needs to be computed
joint_angles	The state for which FK is being computed
poses	The resultant set of poses (in the frame returned by getBaseFrame())

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

Implements kinematics::KinematicsBase.

Definition at line 355 of file eus_kinematics_plugin.cpp.

bool eus_kinematics::EusKinematicsPlugin::getPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution,
		moveit_msgs::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const `[virtual]`

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
solution	the solution vector
error_code	an error code that encodes the reason for failure or success

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

Implements kinematics::KinematicsBase.

Definition at line 272 of file eus_kinematics_plugin.cpp.

bool eus_kinematics::EusKinematicsPlugin::initialize	(	const std::string &	robot_description,
		const std::string &	group_name,
		const std::string &	base_name,
		const std::string &	tip_name,
		double	search_discretization
	)		`[private, virtual]`

Implements kinematics::KinematicsBase.

Definition at line 162 of file eus_kinematics_plugin.cpp.

bool eus_kinematics::EusKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		double	timeout,
		std::vector< double > &	solution,
		moveit_msgs::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const `[virtual]`

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

Implements kinematics::KinematicsBase.

Definition at line 307 of file eus_kinematics_plugin.cpp.

bool eus_kinematics::EusKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		double	timeout,
		const std::vector< double > &	consistency_limits,
		std::vector< double > &	solution,
		moveit_msgs::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const `[virtual]`

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

Implements kinematics::KinematicsBase.

Definition at line 319 of file eus_kinematics_plugin.cpp.

bool eus_kinematics::EusKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		double	timeout,
		std::vector< double > &	solution,
		const IKCallbackFn &	solution_callback,
		moveit_msgs::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const `[virtual]`

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

Implements kinematics::KinematicsBase.

Definition at line 331 of file eus_kinematics_plugin.cpp.

bool eus_kinematics::EusKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		double	timeout,
		const std::vector< double > &	consistency_limits,
		std::vector< double > &	solution,
		const IKCallbackFn &	solution_callback,
		moveit_msgs::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const `[virtual]`

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