kinematics_service_capability.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #pragma once
38 
40 #include <moveit_msgs/GetPositionIK.h>
41 #include <moveit_msgs/GetPositionFK.h>
42 
43 namespace move_group
44 {
45 class MoveGroupKinematicsService : public MoveGroupCapability
46 {
47 public:
49 
50  void initialize() override;
51 
52 private:
53  bool computeIKService(moveit_msgs::GetPositionIK::Request& req, moveit_msgs::GetPositionIK::Response& res);
54  bool computeFKService(moveit_msgs::GetPositionFK::Request& req, moveit_msgs::GetPositionFK::Response& res);
55 
56  void computeIK(moveit_msgs::PositionIKRequest& req, moveit_msgs::RobotState& solution,
57  moveit_msgs::MoveItErrorCodes& error_code, moveit::core::RobotState& rs,
60 
63 };
64 } // namespace move_group
moveit::core::GroupStateValidityCallbackFn
boost::function< bool(RobotState *robot_state, const JointModelGroup *joint_group, const double *joint_group_variable_values)> GroupStateValidityCallbackFn
move_group::MoveGroupKinematicsService::computeIK
void computeIK(moveit_msgs::PositionIKRequest &req, moveit_msgs::RobotState &solution, moveit_msgs::MoveItErrorCodes &error_code, moveit::core::RobotState &rs, const moveit::core::GroupStateValidityCallbackFn &constraint=moveit::core::GroupStateValidityCallbackFn()) const
Definition: kinematics_service_capability.cpp:103
moveit::core::RobotState
move_group::MoveGroupKinematicsService::computeFKService
bool computeFKService(moveit_msgs::GetPositionFK::Request &req, moveit_msgs::GetPositionFK::Response &res)
Definition: kinematics_service_capability.cpp:210
move_group_capability.h
ros::ServiceServer
move_group::MoveGroupKinematicsService::MoveGroupKinematicsService
MoveGroupKinematicsService()
Definition: kinematics_service_capability.cpp:77
move_group
Definition: capability_names.h:41
move_group::MoveGroupKinematicsService::initialize
void initialize() override
Definition: kinematics_service_capability.cpp:81
move_group::MoveGroupKinematicsService::ik_service_
ros::ServiceServer ik_service_
Definition: kinematics_service_capability.h:126
move_group::MoveGroupKinematicsService::fk_service_
ros::ServiceServer fk_service_
Definition: kinematics_service_capability.h:125
move_group::MoveGroupKinematicsService::computeIKService
bool computeIKService(moveit_msgs::GetPositionIK::Request &req, moveit_msgs::GetPositionIK::Response &res)
Definition: kinematics_service_capability.cpp:180


move_group
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Wed Sep 15 2021 02:24:28