Helper class for loading kinematics solvers. More...

#include <kinematics_plugin_loader.h>

Classes
class	KinematicsLoaderImpl

Public Member Functions
const std::map< std::string, double > &	getIKTimeout () const
	Get a map from group name to default IK timeout. More...

const std::vector< std::string > &	getKnownGroups () const
	Get the groups for which the function pointer returned by getLoaderFunction() can allocate a solver. More...

moveit::core::SolverAllocatorFn	getLoaderFunction ()
	Get a function pointer that allocates and initializes a kinematics solver. If not previously called, this function reads the SRDF and calls the variant below. More...

moveit::core::SolverAllocatorFn	getLoaderFunction (const srdf::ModelSharedPtr &srdf_model)
	Get a function pointer that allocates and initializes a kinematics solver. If not previously called, this function reads ROS parameters for the groups defined in the SRDF. More...

	KinematicsPluginLoader (const std::string &robot_description="robot_description", double default_search_resolution=0.0)
	Load the kinematics solvers based on information on the ROS parameter server. Take as optional argument the name of the ROS parameter under which the robot description can be found. This is passed to the kinematics solver initialization as well as used to read the SRDF document when needed. More...

	KinematicsPluginLoader (const std::string &solver_plugin, double solve_timeout, unsigned int, const std::string &robot_description="robot_description", double default_search_resolution=0.0)
	Use a default kinematics solver (solver_plugin) for all the groups in the robot model. The default timeout for the solver is solve_timeout and the default number of IK attempts is ik_attempts. Take as optional argument the name of the ROS parameter under which the robot description can be found. This is passed to the kinematics solver initialization as well as used to read the SRDF document when needed. More...

void	status () const

Private Member Functions
	MOVEIT_CLASS_FORWARD (KinematicsLoaderImpl)

Private Attributes
double	default_search_resolution_

std::string	default_solver_plugin_

double	default_solver_timeout_

std::vector< std::string >	groups_

std::map< std::string, double >	ik_timeout_

KinematicsLoaderImplPtr	loader_

std::string	robot_description_

Detailed Description

Helper class for loading kinematics solvers.

Definition at line 81 of file kinematics_plugin_loader.h.

Constructor & Destructor Documentation

◆ KinematicsPluginLoader() [1/2]

kinematics_plugin_loader::KinematicsPluginLoader::KinematicsPluginLoader	(	const std::string &	robot_description = `"robot_description"`,
		double	default_search_resolution = `0.0`
	)

inline

Load the kinematics solvers based on information on the ROS parameter server. Take as optional argument the name of the ROS parameter under which the robot description can be found. This is passed to the kinematics solver initialization as well as used to read the SRDF document when needed.

Definition at line 89 of file kinematics_plugin_loader.h.

◆ KinematicsPluginLoader() [2/2]

kinematics_plugin_loader::KinematicsPluginLoader::KinematicsPluginLoader	(	const std::string &	solver_plugin,
		double	solve_timeout,
		unsigned int	,
		const std::string &	robot_description = `"robot_description"`,
		double	default_search_resolution = `0.0`
	)

inline

Use a default kinematics solver (solver_plugin) for all the groups in the robot model. The default timeout for the solver is solve_timeout and the default number of IK attempts is ik_attempts. Take as optional argument the name of the ROS parameter under which the robot description can be found. This is passed to the kinematics solver initialization as well as used to read the SRDF document when needed.

Definition at line 102 of file kinematics_plugin_loader.h.

Member Function Documentation

◆ getIKTimeout()

const std::map<std::string, double>& kinematics_plugin_loader::KinematicsPluginLoader::getIKTimeout ( ) const

inline

Get a map from group name to default IK timeout.

Definition at line 127 of file kinematics_plugin_loader.h.

◆ getKnownGroups()

const std::vector<std::string>& kinematics_plugin_loader::KinematicsPluginLoader::getKnownGroups ( ) const

inline

Get the groups for which the function pointer returned by getLoaderFunction() can allocate a solver.

Definition at line 121 of file kinematics_plugin_loader.h.

◆ getLoaderFunction() [1/2]

moveit::core::SolverAllocatorFn kinematics_plugin_loader::KinematicsPluginLoader::getLoaderFunction ( )

Get a function pointer that allocates and initializes a kinematics solver. If not previously called, this function reads the SRDF and calls the variant below.

Definition at line 287 of file kinematics_plugin_loader.cpp.

◆ getLoaderFunction() [2/2]

moveit::core::SolverAllocatorFn kinematics_plugin_loader::KinematicsPluginLoader::getLoaderFunction ( const srdf::ModelSharedPtr & srdf_model )

Get a function pointer that allocates and initializes a kinematics solver. If not previously called, this function reads ROS parameters for the groups defined in the SRDF.

Definition at line 302 of file kinematics_plugin_loader.cpp.