create_ikfast_moveit_plugin Namespace Reference

Classes
class	InvalidROSPkgException

Functions
def	copy_file (src_path, dest_path, description, replacements=None)
def	create_ikfast_package (args)
def	create_parser ()
def	find_template_dir ()
def	get_pkg_dir (pkg_name)
def	main ()
def	populate_optional (args)
def	print_args (args)
def	update_deps (reqd_deps, req_type, e_parent)
def	update_ikfast_package (args)
def	update_moveit_package (args)
def	validate_openrave_version (args)
def	xmlElement (name, text=None, **attributes)

Variables
string	plugin_gen_pkg = "moveit_kinematics"
list	search_modes = ["OPTIMIZE_MAX_JOINT", "OPTIMIZE_FREE_JOINT"]

Detailed Description

IKFast Plugin Generator for MoveIt

Creates a kinematics plugin using the output of IKFast from OpenRAVE.
This plugin and the move_group node can be used as a general
kinematics service, from within the moveit planning environment, or in
your own ROS node.

Author: Dave Coleman, PickNik Robotics
        Michael Lautman, PickNik Robotics
        Based heavily on the arm_kinematic_tools package by Jeremy Zoss, SwRI
        and the arm_navigation plugin generator by David Butterworth, KAIST

Date: March 2013

Function Documentation

copy_file()

def create_ikfast_moveit_plugin.copy_file	(		src_path,
			dest_path,
			description,
			replacements = None
	)

Definition at line 479 of file create_ikfast_moveit_plugin.py.

create_ikfast_package()

def create_ikfast_moveit_plugin.create_ikfast_package

(

args

)

Definition at line 188 of file create_ikfast_moveit_plugin.py.

create_parser()

def create_ikfast_moveit_plugin.create_parser

(

)

Definition at line 74 of file create_ikfast_moveit_plugin.py.

find_template_dir()

def create_ikfast_moveit_plugin.find_template_dir

(

)

Definition at line 228 of file create_ikfast_moveit_plugin.py.

get_pkg_dir()

def create_ikfast_moveit_plugin.get_pkg_dir

(

pkg_name

)

Definition at line 64 of file create_ikfast_moveit_plugin.py.

main()

def create_ikfast_moveit_plugin.main

(

)

Definition at line 498 of file create_ikfast_moveit_plugin.py.

populate_optional()

def create_ikfast_moveit_plugin.populate_optional

(

args

)

Definition at line 126 of file create_ikfast_moveit_plugin.py.

print_args()

def create_ikfast_moveit_plugin.print_args

(

args

)

Definition at line 135 of file create_ikfast_moveit_plugin.py.

update_deps()

def create_ikfast_moveit_plugin.update_deps	(		reqd_deps,
			req_type,
			e_parent
	)

Definition at line 153 of file create_ikfast_moveit_plugin.py.

update_ikfast_package()

def create_ikfast_moveit_plugin.update_ikfast_package

(

args

)

Definition at line 240 of file create_ikfast_moveit_plugin.py.

update_moveit_package()

def create_ikfast_moveit_plugin.update_moveit_package

(

args

)

Definition at line 428 of file create_ikfast_moveit_plugin.py.

validate_openrave_version()

def create_ikfast_moveit_plugin.validate_openrave_version

(

args

)

Definition at line 160 of file create_ikfast_moveit_plugin.py.

xmlElement()

def create_ikfast_moveit_plugin.xmlElement	(		name,
			text = None,
		**	attributes
	)

Definition at line 182 of file create_ikfast_moveit_plugin.py.

Variable Documentation

plugin_gen_pkg

string create_ikfast_moveit_plugin.plugin_gen_pkg = "moveit_kinematics"

Definition at line 69 of file create_ikfast_moveit_plugin.py.

search_modes

list create_ikfast_moveit_plugin.search_modes = ["OPTIMIZE_MAX_JOINT", "OPTIMIZE_FREE_JOINT"]

Definition at line 71 of file create_ikfast_moveit_plugin.py.