pose_ik_plugin::PoseIKPlugin Class Reference

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

#include <pose_ik_plugin.hpp>

Inheritance diagram for pose_ik_plugin::PoseIKPlugin:

Collaboration diagram for pose_ik_plugin::PoseIKPlugin:

Public Member Functions
	PoseIKPlugin ()=default
bool	initialize (const rclcpp::Node::SharedPtr &node, const moveit::core::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	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 kinematics::KinematicsQueryOptions &options=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 kinematics::KinematicsQueryOptions &options=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 kinematics::KinematicsQueryOptions &options=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 kinematics::KinematicsQueryOptions &options=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 kinematics::KinematicsQueryOptions &options=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

Detailed Description

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

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

Constructor & Destructor Documentation

PoseIKPlugin()

pose_ik_plugin::PoseIKPlugin::PoseIKPlugin ( )

default

Member Function Documentation

getJointNames()

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

override

getLinkNames()

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

override

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  ) const

override

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 kinematics::KinematicsQueryOptions &  options = kinematics::KinematicsQueryOptions()  ) const

override

initialize()

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

override

searchPositionIK() [1/4]

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 kinematics::KinematicsQueryOptions &  options = kinematics::KinematicsQueryOptions()  ) const

override

searchPositionIK() [2/4]

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 kinematics::KinematicsQueryOptions &  options = kinematics::KinematicsQueryOptions()  ) const

override

searchPositionIK() [3/4]

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 kinematics::KinematicsQueryOptions &  options = kinematics::KinematicsQueryOptions()  ) const

override

searchPositionIK() [4/4]

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 kinematics::KinematicsQueryOptions &  options = kinematics::KinematicsQueryOptions()  ) const

override

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

• pose_ik_plugin.hpp
• pose_ik_plugin.cpp