PoseIKPlugin Class

PickNik's implementation of a kinematics solver using MoveIt native types. More...

Declaration

class pose_ik_plugin::PoseIKPlugin { ... }

Included Headers

#include <pose_ik_plugin.hpp>

Base class

class	moveit_pro::base::kinematics::KinematicsBase

Public Constructors Index

	PoseIKPlugin ()=default

Public Member Functions Index

bool	initialize (const rclcpp::Node::SharedPtr &node, const moveit_pro::base::RobotModel &robot_model, const std::string &group_name, const std::string &base_frame, const std::vector< std::string > &tip_frames, double search_discretization) override
bool	initialize (const moveit_pro::base::RobotModel &robot_model, const std::string &group_name, const std::string &tip_frame)
	Initialize the plugin without a ROS 2 node. More...
bool	getPositionIK (const geometry_msgs::msg::Pose &ik_pose, const std::vector< double > &ik_seed_state, std::vector< double > &solution, moveit_msgs::msg::MoveItErrorCodes &error_code, const moveit_pro::base::kinematics::KinematicsQueryOptions &options=moveit_pro::base::kinematics::KinematicsQueryOptions()) const override
bool	searchPositionIK (const geometry_msgs::msg::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, std::vector< double > &solution, moveit_msgs::msg::MoveItErrorCodes &error_code, const moveit_pro::base::kinematics::KinematicsQueryOptions &options=moveit_pro::base::kinematics::KinematicsQueryOptions()) const override
bool	searchPositionIK (const geometry_msgs::msg::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, moveit_msgs::msg::MoveItErrorCodes &error_code, const moveit_pro::base::kinematics::KinematicsQueryOptions &options=moveit_pro::base::kinematics::KinematicsQueryOptions()) const override
bool	searchPositionIK (const geometry_msgs::msg::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::msg::MoveItErrorCodes &error_code, const moveit_pro::base::kinematics::KinematicsQueryOptions &options=moveit_pro::base::kinematics::KinematicsQueryOptions()) const override
bool	searchPositionIK (const geometry_msgs::msg::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::msg::MoveItErrorCodes &error_code, const moveit_pro::base::kinematics::KinematicsQueryOptions &options=moveit_pro::base::kinematics::KinematicsQueryOptions()) const override
bool	getPositionFK (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::msg::Pose > &poses) const override
const std::vector< std::string > &	getJointNames () const override
const std::vector< std::string > &	getLinkNames () const override
void	setParams (const pose_ik::Params &params)
	Set IK parameters directly, bypassing the ROS 2 parameter listener. More...

Private Member Attributes Index

std::shared_ptr< pose_ik::ParamListener >	parameter_listener_
const moveit_pro::base::JointModelGroup *	joint_model_group_ = nullptr
std::unique_ptr< moveit_pro::base::RobotState >	state_
std::optional< pose_ik::Params >	override_params_
bool	initialized_ = false

Description

PickNik's implementation of a kinematics solver using MoveIt native types.

This class implements MoveIt's KinematicsBase interface around pose_ik::solveIK().

Definition at line 30 of file pose_ik_plugin.hpp.

Public Constructors

PoseIKPlugin()

pose_ik_plugin::PoseIKPlugin::PoseIKPlugin ()

default

Definition at line 33 of file pose_ik_plugin.hpp.

Public Member Functions

getJointNames()

const std::vector< std::string > & pose_ik_plugin::PoseIKPlugin::getJointNames ()

Declaration at line 93 of file pose_ik_plugin.hpp, definition at line 236 of file pose_ik_plugin.cpp.

getLinkNames()

const std::vector< std::string > & pose_ik_plugin::PoseIKPlugin::getLinkNames ()

Declaration at line 95 of file pose_ik_plugin.hpp, definition at line 241 of file pose_ik_plugin.cpp.

getPositionFK()

bool pose_ik_plugin::PoseIKPlugin::getPositionFK (const std::vector< std::string > & link_names, const std::vector< double > & joint_angles, std::vector< geometry_msgs::msg::Pose > & poses)

Declaration at line 90 of file pose_ik_plugin.hpp, definition at line 228 of file pose_ik_plugin.cpp.

getPositionIK()

bool pose_ik_plugin::PoseIKPlugin::getPositionIK (const geometry_msgs::msg::Pose & ik_pose, const std::vector< double > & ik_seed_state, std::vector< double > & solution, moveit_msgs::msg::MoveItErrorCodes & error_code, const moveit_pro::base::kinematics::KinematicsQueryOptions & options=moveit_pro::base::kinematics::KinematicsQueryOptions())

Declaration at line 62 of file pose_ik_plugin.hpp, definition at line 191 of file pose_ik_plugin.cpp.

initialize()

bool pose_ik_plugin::PoseIKPlugin::initialize (const rclcpp::Node::SharedPtr & node, const moveit_pro::base::RobotModel & robot_model, const std::string & group_name, const std::string & base_frame, const std::vector< std::string > & tip_frames, double search_discretization)

Implements the main MoveIt 2 initialize interface, requiring a ROS 2 node.

Declaration at line 36 of file pose_ik_plugin.hpp, definition at line 34 of file pose_ik_plugin.cpp.

initialize()

bool pose_ik_plugin::PoseIKPlugin::initialize (const moveit_pro::base::RobotModel & robot_model, const std::string & group_name, const std::string & tip_frame)

Initialize the plugin without a ROS 2 node.

This version of initialize does not create a parameter listener, so parameters must be set directly using setParams(), or otherwise defaults will be used. This is useful when you don't need ROS 2 parameter loading and want to avoid creating a node.

The base frame is automatically set to the parent link of the group's first joint, or to the robot model frame when that joint has no parent link.

Parameters

robot_model	The robot model
group_name	Name of the joint model group
tip_frame	Tip frame name for the IK solver

Returns

true if initialization succeeds, false otherwise

Declaration at line 55 of file pose_ik_plugin.hpp, definition at line 57 of file pose_ik_plugin.cpp.

searchPositionIK()

bool pose_ik_plugin::PoseIKPlugin::searchPositionIK (const geometry_msgs::msg::Pose & ik_pose, const std::vector< double > & ik_seed_state, double timeout, std::vector< double > & solution, moveit_msgs::msg::MoveItErrorCodes & error_code, const moveit_pro::base::kinematics::KinematicsQueryOptions & options=moveit_pro::base::kinematics::KinematicsQueryOptions())

Declaration at line 67 of file pose_ik_plugin.hpp, definition at line 200 of file pose_ik_plugin.cpp.

searchPositionIK()

bool pose_ik_plugin::PoseIKPlugin::searchPositionIK (const geometry_msgs::msg::Pose & ik_pose, const std::vector< double > & ik_seed_state, double timeout, const std::vector< double > & consistency_limits, std::vector< double > & solution, moveit_msgs::msg::MoveItErrorCodes & error_code, const moveit_pro::base::kinematics::KinematicsQueryOptions & options=moveit_pro::base::kinematics::KinematicsQueryOptions())

Declaration at line 72 of file pose_ik_plugin.hpp, definition at line 209 of file pose_ik_plugin.cpp.

searchPositionIK()

bool pose_ik_plugin::PoseIKPlugin::searchPositionIK (const geometry_msgs::msg::Pose & ik_pose, const std::vector< double > & ik_seed_state, double timeout, std::vector< double > & solution, const IKCallbackFn & solution_callback, moveit_msgs::msg::MoveItErrorCodes & error_code, const moveit_pro::base::kinematics::KinematicsQueryOptions & options=moveit_pro::base::kinematics::KinematicsQueryOptions())

Declaration at line 78 of file pose_ik_plugin.hpp, definition at line 218 of file pose_ik_plugin.cpp.

searchPositionIK()

bool pose_ik_plugin::PoseIKPlugin::searchPositionIK (const geometry_msgs::msg::Pose & ik_pose, const std::vector< double > & ik_seed_state, double timeout, const std::vector< double > & consistency_limits, std::vector< double > & solution, const IKCallbackFn & solution_callback, moveit_msgs::msg::MoveItErrorCodes & error_code, const moveit_pro::base::kinematics::KinematicsQueryOptions & options=moveit_pro::base::kinematics::KinematicsQueryOptions())

Declaration at line 84 of file pose_ik_plugin.hpp, definition at line 118 of file pose_ik_plugin.cpp.

setParams()

void pose_ik_plugin::PoseIKPlugin::setParams (const pose_ik::Params & params)

Set IK parameters directly, bypassing the ROS 2 parameter listener.

This allows programmatic configuration of IK solver behavior without needing to set ROS 2 parameters. Once set, these parameters will be used for all subsequent IK queries instead of loading from the parameter server.

Parameters

params

The IK parameters to use.

Declaration at line 106 of file pose_ik_plugin.hpp, definition at line 246 of file pose_ik_plugin.cpp.

Private Member Attributes

initialized_

bool pose_ik_plugin::PoseIKPlugin::initialized_ = false

Definition at line 116 of file pose_ik_plugin.hpp.

joint_model_group_

const moveit_pro::base::JointModelGroup* pose_ik_plugin::PoseIKPlugin::joint_model_group_ = nullptr

Definition at line 110 of file pose_ik_plugin.hpp.

override_params_

std::optional<pose_ik::Params> pose_ik_plugin::PoseIKPlugin::override_params_

Definition at line 114 of file pose_ik_plugin.hpp.

parameter_listener_

std::shared_ptr<pose_ik::ParamListener> pose_ik_plugin::PoseIKPlugin::parameter_listener_

Definition at line 109 of file pose_ik_plugin.hpp.

state_

std::unique_ptr<moveit_pro::base::RobotState> pose_ik_plugin::PoseIKPlugin::state_

Definition at line 111 of file pose_ik_plugin.hpp.

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The documentation for this class was generated from the following files:

• pose_ik_plugin.hpp
• pose_ik_plugin.cpp

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