Public Member Functions
kinematics::KinematicsBasePtr	allocKinematicsSolver (const moveit::core::JointModelGroup *jmg)

kinematics::KinematicsBasePtr	allocKinematicsSolverWithCache (const moveit::core::JointModelGroup *jmg)

std::vector< std::string >	chooseTipFrames (const moveit::core::JointModelGroup *jmg)
	Helper function to decide which, and how many, tip frames a planning group has. More...

	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. More...

void	status () const

Private Attributes
boost::mutex	cache_lock_

std::map< std::string, std::vector< std::string > >	iksolver_to_tip_links_

std::map< const moveit::core::JointModelGroup *, kinematics::KinematicsBasePtr >	instances_

std::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 84 of file kinematics_plugin_loader.cpp.

Constructor & Destructor Documentation

◆ KinematicsLoaderImpl()

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 94 of file kinematics_plugin_loader.cpp.

Member Function Documentation

◆ allocKinematicsSolver()

kinematics::KinematicsBasePtr kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::allocKinematicsSolver ( const moveit::core::JointModelGroup * jmg )

inline

Definition at line 159 of file kinematics_plugin_loader.cpp.

◆ allocKinematicsSolverWithCache()

kinematics::KinematicsBasePtr kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::allocKinematicsSolverWithCache ( const moveit::core::JointModelGroup * jmg )

inline

Definition at line 246 of file kinematics_plugin_loader.cpp.

◆ chooseTipFrames()

std::vector<std::string> kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::chooseTipFrames ( const moveit::core::JointModelGroup * jmg )

inline

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

Parameters

jmg	- joint model group pointer

Returns: tips - list of valid links in a planning group to plan for

Definition at line 120 of file kinematics_plugin_loader.cpp.

◆ status()

void kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::status ( ) const

inline

Definition at line 258 of file kinematics_plugin_loader.cpp.

Member Data Documentation

◆ cache_lock_

boost::mutex kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::cache_lock_

private

Definition at line 276 of file kinematics_plugin_loader.cpp.

◆ iksolver_to_tip_links_

std::map<std::string, std::vector<std::string> > kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::iksolver_to_tip_links_

private

Definition at line 271 of file kinematics_plugin_loader.cpp.

◆ instances_

std::map<const moveit::core::JointModelGroup*, kinematics::KinematicsBasePtr> kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::instances_

private

Definition at line 274 of file kinematics_plugin_loader.cpp.

◆ kinematics_loader_

std::shared_ptr<pluginlib::ClassLoader<kinematics::KinematicsBase> > kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::kinematics_loader_

private

Definition at line 273 of file kinematics_plugin_loader.cpp.