#include <hand_kinematics_plugin.h>

Inheritance diagram for hand_kinematics::HandKinematicsPlugin:

Public Member Functions
const std::vector< std::string > &	getJointNames () const
	Return all the joint names in the order they are used internally. More...

const std::vector< std::string > &	getLinkNames () const
	Return all the link names in the order they are represented internally. More...

virtual 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. More...

virtual 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. More...

	HandKinematicsPlugin ()

virtual bool	initialize (const std::string &robot_description, const std::string &group_name, const std::string &base_frame, const std::string &tip_frame, double search_discretization)
	Initialization function for the kinematics. More...

bool	isActive ()
	Specifies if the node is active or not. More...

virtual 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

virtual 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

virtual 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). More...

virtual 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). More...

Public Member Functions inherited from kinematics::KinematicsBase
virtual const std::string &	getBaseFrame () const

double	getDefaultTimeout () const

virtual const std::string &	getGroupName () const

virtual bool	getPositionIK (const std::vector< geometry_msgs::Pose > &ik_poses, const std::vector< double > &ik_seed_state, std::vector< std::vector< double > > &solutions, KinematicsResult &result, const kinematics::KinematicsQueryOptions &options) const

virtual void	getRedundantJoints (std::vector< unsigned int > &redundant_joint_indices) const

double	getSearchDiscretization (int joint_index=0) const

std::vector< DiscretizationMethod >	getSupportedDiscretizationMethods () const

virtual const std::string &	getTipFrame () const

virtual const std::vector< std::string > &	getTipFrames () const

virtual bool	initialize (const std::string &robot_description, const std::string &group_name, const std::string &base_frame, const std::vector< std::string > &tip_frames, double search_discretization)

	KinematicsBase ()

virtual bool	searchPositionIK (const std::vector< geometry_msgs::Pose > &ik_poses, 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 moveit::core::RobotState *context_state=NULL) const

void	setDefaultTimeout (double timeout)

virtual bool	setRedundantJoints (const std::vector< unsigned int > &redundant_joint_indices)

bool	setRedundantJoints (const std::vector< std::string > &redundant_joint_names)

void	setSearchDiscretization (const std::map< int, double > &discretization)

void	setSearchDiscretization (double sd)

virtual void	setValues (const std::string &robot_description, const std::string &group_name, const std::string &base_frame, const std::string &tip_frame, double search_discretization)

virtual void	setValues (const std::string &robot_description, const std::string &group_name, const std::string &base_frame, const std::vector< std::string > &tip_frames, double search_discretization)

virtual bool	supportsGroup (const moveit::core::JointModelGroup jmg, std::string error_text_out=NULL) const

virtual	~KinematicsBase ()

Protected Member Functions
void	generateRandomJntSeed (KDL::JntArray &jnt_pos_in) const
	This method generates a random joint array vector between the joint limits so that local minima in IK can be avoided. More...

Protected Member Functions inherited from kinematics::KinematicsBase
bool	lookupParam (const std::string &param, T &val, const T &default_val) const

Protected Attributes
bool	active_

int	dimension_

std::string	finger_base_name

KDL::ChainFkSolverPos_recursive *	fk_solver

moveit_msgs::KinematicSolverInfo	fk_solver_info_

moveit_msgs::KinematicSolverInfo	ik_solver_info_

KDL::ChainIkSolverPos_NR_JL_coupling *	ik_solver_pos

KDL::ChainIkSolverVel_wdls_coupling *	ik_solver_vel

boost::shared_ptr< KDL::ChainFkSolverPos_recursive >	jnt_to_pose_solver_

KDL::JntArray	joint_max_

KDL::JntArray	joint_min_

KDL::Chain_coupling	kdl_chain_

ros::NodeHandle	node_handle_

urdf::Model	robot_model_

ros::NodeHandle	root_handle_

double	search_discretization_

moveit_msgs::KinematicSolverInfo	solver_info_

Protected Attributes inherited from kinematics::KinematicsBase
std::string	base_frame_

double	default_timeout_

std::string	group_name_

std::map< int, double >	redundant_joint_discretization_

std::vector< unsigned int >	redundant_joint_indices_

std::string	robot_description_

double	search_discretization_

std::vector< DiscretizationMethod >	supported_methods_

std::string	tip_frame_

std::vector< std::string >	tip_frames_

Additional Inherited Members
Public Types inherited from kinematics::KinematicsBase
typedef boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, moveit_msgs::MoveItErrorCodes &error_code)>	IKCallbackFn

Static Public Attributes inherited from kinematics::KinematicsBase
static const double	DEFAULT_SEARCH_DISCRETIZATION

static const double	DEFAULT_TIMEOUT

Detailed Description

Definition at line 69 of file hand_kinematics_plugin.h.

Constructor & Destructor Documentation

hand_kinematics::HandKinematicsPlugin::HandKinematicsPlugin ( )

Definition at line 79 of file hand_kinematics_coupling_plugin.cpp.

Member Function Documentation

void hand_kinematics::HandKinematicsPlugin::generateRandomJntSeed ( KDL::JntArray & jnt_pos_in ) const

protected

This method generates a random joint array vector between the joint limits so that local minima in IK can be avoided.

Parameters

Joint vector to be initialized with random values.

Definition at line 467 of file hand_kinematics_coupling_plugin.cpp.

const std::vector< std::string > & hand_kinematics::HandKinematicsPlugin::getJointNames ( ) const

virtual

Return all the joint names in the order they are used internally.

Implements kinematics::KinematicsBase.

Definition at line 449 of file hand_kinematics_coupling_plugin.cpp.

const std::vector< std::string > & hand_kinematics::HandKinematicsPlugin::getLinkNames ( ) const

virtual

Return all the link names in the order they are represented internally.

Implements kinematics::KinematicsBase.

Definition at line 458 of file hand_kinematics_coupling_plugin.cpp.

bool hand_kinematics::HandKinematicsPlugin::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.

Parameters

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

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

Implements kinematics::KinematicsBase.

Definition at line 393 of file hand_kinematics_coupling_plugin.cpp.

bool hand_kinematics::HandKinematicsPlugin::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.

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

Implements kinematics::KinematicsBase.

Definition at line 208 of file hand_kinematics_coupling_plugin.cpp.

bool hand_kinematics::HandKinematicsPlugin::initialize	(	const std::string &	robot_description,
		const std::string &	group_name,
		const std::string &	base_frame,
		const std::string &	tip_frame,
		double	search_discretization
	)

virtual

Initialization function for the kinematics.

Returns: True if initialization was successful, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 92 of file hand_kinematics_coupling_plugin.cpp.

bool hand_kinematics::HandKinematicsPlugin::isActive ( )

Specifies if the node is active or not.

Returns: True if the node is active, false otherwise.

Definition at line 83 of file hand_kinematics_coupling_plugin.cpp.

bool hand_kinematics::HandKinematicsPlugin::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

Implements kinematics::KinematicsBase.

Definition at line 276 of file hand_kinematics_coupling_plugin.cpp.

bool hand_kinematics::HandKinematicsPlugin::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

Implements kinematics::KinematicsBase.

Definition at line 289 of file hand_kinematics_coupling_plugin.cpp.

bool hand_kinematics::HandKinematicsPlugin::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).

Implements kinematics::KinematicsBase.

Definition at line 302 of file hand_kinematics_coupling_plugin.cpp.

bool hand_kinematics::HandKinematicsPlugin::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).

Implements kinematics::KinematicsBase.

Definition at line 316 of file hand_kinematics_coupling_plugin.cpp.

Member Data Documentation

bool hand_kinematics::HandKinematicsPlugin::active_

protected

Definition at line 178 of file hand_kinematics_plugin.h.

int hand_kinematics::HandKinematicsPlugin::dimension_

protected

Definition at line 189 of file hand_kinematics_plugin.h.

std::string hand_kinematics::HandKinematicsPlugin::finger_base_name

protected

Definition at line 188 of file hand_kinematics_plugin.h.

KDL::ChainFkSolverPos_recursive* hand_kinematics::HandKinematicsPlugin::fk_solver

protected

Definition at line 183 of file hand_kinematics_plugin.h.

moveit_msgs::KinematicSolverInfo hand_kinematics::HandKinematicsPlugin::fk_solver_info_

protected

Definition at line 196 of file hand_kinematics_plugin.h.

moveit_msgs::KinematicSolverInfo hand_kinematics::HandKinematicsPlugin::ik_solver_info_

protected

Definition at line 196 of file hand_kinematics_plugin.h.

KDL::ChainIkSolverPos_NR_JL_coupling* hand_kinematics::HandKinematicsPlugin::ik_solver_pos

protected

Definition at line 184 of file hand_kinematics_plugin.h.

KDL::ChainIkSolverVel_wdls_coupling* hand_kinematics::HandKinematicsPlugin::ik_solver_vel

protected

Definition at line 185 of file hand_kinematics_plugin.h.

boost::shared_ptr<KDL::ChainFkSolverPos_recursive> hand_kinematics::HandKinematicsPlugin::jnt_to_pose_solver_

protected

Definition at line 190 of file hand_kinematics_plugin.h.

KDL::JntArray hand_kinematics::HandKinematicsPlugin::joint_max_

protected

Definition at line 194 of file hand_kinematics_plugin.h.

KDL::JntArray hand_kinematics::HandKinematicsPlugin::joint_min_

protected

Definition at line 194 of file hand_kinematics_plugin.h.

KDL::Chain_coupling hand_kinematics::HandKinematicsPlugin::kdl_chain_

protected

Definition at line 192 of file hand_kinematics_plugin.h.

ros::NodeHandle hand_kinematics::HandKinematicsPlugin::node_handle_

protected

Definition at line 181 of file hand_kinematics_plugin.h.

urdf::Model hand_kinematics::HandKinematicsPlugin::robot_model_

protected

Definition at line 179 of file hand_kinematics_plugin.h.

ros::NodeHandle hand_kinematics::HandKinematicsPlugin::root_handle_

protected

Definition at line 181 of file hand_kinematics_plugin.h.

double hand_kinematics::HandKinematicsPlugin::search_discretization_

protected

Definition at line 180 of file hand_kinematics_plugin.h.

moveit_msgs::KinematicSolverInfo hand_kinematics::HandKinematicsPlugin::solver_info_

protected

Definition at line 186 of file hand_kinematics_plugin.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation