.. _program_listing_file__tmp_ws_src_pick_ik_include_pick_ik_fk_moveit.hpp:

Program Listing for File fk_moveit.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_pick_ik_include_pick_ik_fk_moveit.hpp>` (``/tmp/ws/src/pick_ik/include/pick_ik/fk_moveit.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #pragma once
   
   #include <Eigen/Geometry>
   #include <functional>
   #include <memory>
   #include <moveit/robot_model/joint_model_group.h>
   #include <moveit/robot_model/robot_model.h>
   #include <mutex>
   #include <vector>
   
   namespace pick_ik {
   
   using FkFn = std::function<std::vector<Eigen::Isometry3d>(std::vector<double> const&)>;
   
   auto make_fk_fn(std::shared_ptr<moveit::core::RobotModel const> robot_model,
                   moveit::core::JointModelGroup const* jmg,
                   std::mutex& mx,
                   std::vector<size_t> tip_link_indices) -> FkFn;
   
   }  // namespace pick_ik