Public Member Functions
boost::shared_ptr < kinematics::KinematicsBase >	allocKinematicsSolver (const robot_model::JointModelGroup *jmg)
boost::shared_ptr < kinematics::KinematicsBase >	allocKinematicsSolverWithCache (const robot_model::JointModelGroup *jmg)
std::vector< std::string >	chooseTipFrames (const robot_model::JointModelGroup *jmg)
	Helper function to decide which, and how many, tip frames a planning group has.
	KinematicsLoaderImpl (const std::string &robot_description, const std::map< std::string, std::vector< std::string > > &possible_kinematics_solvers, const std::map< std::string, std::vector< double > > &search_res, const std::map< std::string, std::vector< std::string > > &iksolver_to_tip_links)
	Pimpl Implementation of KinematicsLoader.
void	status () const
Private Attributes
std::map< std::string, std::vector< std::string > >	iksolver_to_tip_links_
std::map< const robot_model::JointModelGroup *, std::vector < boost::shared_ptr < kinematics::KinematicsBase > > >	instances_
boost::shared_ptr < pluginlib::ClassLoader < kinematics::KinematicsBase > >	kinematics_loader_
boost::mutex	lock_
std::map< std::string, std::vector< std::string > >	possible_kinematics_solvers_
std::string	robot_description_
std::map< std::string, std::vector< double > >	search_res_

Detailed Description

Definition at line 50 of file kinematics_plugin_loader.cpp.

Constructor & Destructor Documentation

kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::KinematicsLoaderImpl	(	const std::string &	robot_description,
		const std::map< std::string, std::vector< std::string > > &	possible_kinematics_solvers,
		const std::map< std::string, std::vector< double > > &	search_res,
		const std::map< std::string, std::vector< std::string > > &	iksolver_to_tip_links
	)		`[inline]`

Pimpl Implementation of KinematicsLoader.

Parameters:

robot_description
possible_kinematics_solvers
search_res
iksolver_to_tip_links	- a map between each ik solver and a vector of custom-specified tip link(s)

Definition at line 60 of file kinematics_plugin_loader.cpp.

Member Function Documentation

boost::shared_ptr<kinematics::KinematicsBase> kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::allocKinematicsSolver ( const robot_model::JointModelGroup * jmg ) [inline]

Definition at line 122 of file kinematics_plugin_loader.cpp.

boost::shared_ptr<kinematics::KinematicsBase> kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::allocKinematicsSolverWithCache ( const robot_model::JointModelGroup * jmg ) [inline]

Definition at line 195 of file kinematics_plugin_loader.cpp.

std::vector<std::string> kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::chooseTipFrames ( const robot_model::JointModelGroup * jmg ) [inline]

Helper function to decide which, and how many, tip frames a planning group has.

Parameters: