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_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.
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.

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

override

initialize() [1/2]

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 first link in the group.

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

initialize() [2/2]

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  )

override

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

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

override

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.

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

• pose_ik_plugin.hpp
• pose_ik_plugin.cpp