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kinematics Namespace

Definition​

namespace moveit_pro_py::kinematics { ... }

Enumerations Index​

enum classSolveMode { ... }

Functions Index​

voidbindKinematics (pybind11::module &m)
voidbindPathIK (pybind11::module &parent)
std::shared_ptr< pose_ik_plugin::PoseIKPlugin >registerPoseIKSolver (std::shared_ptr< moveit_pro::base::RobotModel > robot_model, const std::string &group_name, const std::string &tip_frame)

Programmatically registers a PoseIKPlugin solver for a specified joint group. More...

Eigen::VectorXdsolve_ik (const moveit_pro::base::RobotState &robot_state, const moveit_pro::base::JointModelGroup &group, const std::vector< pose_ik::PoseTarget > &targets, const Eigen::Ref< const Eigen::VectorXd > &seed, double timeout_seconds, const pose_ik::IKValidationFunction &validation_fn, const pose_ik::Params &params)
voidbindKinematics (py::module &m)
std::tuple< path_ik::JointSpacePath, std::string >pathIK (moveit_pro::base::RobotState &robot_state, const moveit_pro::base::JointModelGroup &group, const std::vector< std::string > &tip_names, const path_ik::Path &reference_path, const path_ik::PathIKOptions &options)
Eigen::MatrixXdcomputeMultiTipJacobian (const moveit_pro::base::RobotState &state, const std::string &group_name, const std::vector< std::string > &tip_link_names, const std::vector< Eigen::Ref< Eigen::Vector3d > > &tip_offsets)
voidbindPathIK (py::module &parent)

Variables Index​

static const std::map< SolveMode, std::string >kSolveModeToString = ...

Enumerations​

SolveMode​

enum class moveit_pro_py::kinematics::SolveMode
strong
Enumeration values
FirstFound
OptimizeDistance

Definition at line 27 of file kinematics.cpp.

Functions​

bindKinematics()​

void moveit_pro_py::kinematics::bindKinematics (pybind11::module & m)

Definition at line 13 of file kinematics.hpp.

bindKinematics()​

void moveit_pro_py::kinematics::bindKinematics (py::module & m)

Definition at line 53 of file kinematics.cpp.

bindPathIK()​

void moveit_pro_py::kinematics::bindPathIK (pybind11::module & parent)

Definition at line 13 of file path_ik.hpp.

bindPathIK()​

void moveit_pro_py::kinematics::bindPathIK (py::module & parent)

Definition at line 91 of file path_ik.cpp.

computeMultiTipJacobian()​

Eigen::MatrixXd moveit_pro_py::kinematics::computeMultiTipJacobian (const moveit_pro::base::RobotState & state, const std::string & group_name, const std::vector< std::string > & tip_link_names, const std::vector< Eigen::Ref< Eigen::Vector3d > > & tip_offsets)

Definition at line 64 of file path_ik.cpp.

pathIK()​

std::tuple< path_ik::JointSpacePath, std::string > moveit_pro_py::kinematics::pathIK (moveit_pro::base::RobotState & robot_state, const moveit_pro::base::JointModelGroup & group, const std::vector< std::string > & tip_names, const path_ik::Path & reference_path, const path_ik::PathIKOptions & options)

Definition at line 37 of file path_ik.cpp.

registerPoseIKSolver()​

std::shared_ptr< pose_ik_plugin::PoseIKPlugin > moveit_pro_py::kinematics::registerPoseIKSolver (std::shared_ptr< moveit_pro::base::RobotModel > robot_model, const std::string & group_name, const std::string & tip_frame)

Programmatically registers a PoseIKPlugin solver for a specified joint group.

This function creates and initializes a PoseIKPlugin instance and registers it with the robot model as the kinematics solver for the specified group. This allows using PoseIK without needing to load it as a plugin or create a ROS 2 node.

The base frame is automatically set to the first link in the group.

IK parameters can be set directly using setParams() on the returned solver instance, otherwise defaults will be used.

Parameters
robot_model

The robot model to register the solver with (must not be null)

group_name

Name of the joint model group to solve IK for (must exist in robot model)

tip_frame

Tip frame name for the IK solver

Returns

Shared pointer to the registered PoseIKPlugin instance.

Exceptions
<a href="/api/classes/moveit-pro-py/messageerror">MessageError</a>

if inputs are invalid or initialization fails

Definition at line 19 of file pose_ik_registration.cpp.

solve_ik()​

Eigen::VectorXd moveit_pro_py::kinematics::solve_ik (const moveit_pro::base::RobotState & robot_state, const moveit_pro::base::JointModelGroup & group, const std::vector< pose_ik::PoseTarget > & targets, const Eigen::Ref< const Eigen::VectorXd > & seed, double timeout_seconds, const pose_ik::IKValidationFunction & validation_fn, const pose_ik::Params & params)

Definition at line 40 of file kinematics.cpp.

Variables​

kSolveModeToString​

const std::map<SolveMode, std::string> moveit_pro_py::kinematics::kSolveModeToString
 static
Initialiser
= {   { SolveMode::FirstFound, pose_ik::kSolveModeFirstFound },   { SolveMode::OptimizeDistance, pose_ik::kSolveModeOptimizeDistance }, }

Definition at line 35 of file kinematics.cpp.

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

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