moveit_pro_py::kinematics Namespace Reference

Enumerations
enum class	SolveMode { FirstFound , OptimizeDistance }

Functions
void	bindCartesianPlanning (pybind11::module &parent)
void	bindKinematics (pybind11::module &m)
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.
std::tuple< cartesian_planning::JointSpacePath, std::string >	pathIK (moveit_pro::base::RobotState &robot_state, const moveit_pro::base::JointModelGroup &group, const std::vector< std::string > &tip_names, const cartesian_planning::Path &reference_path, const cartesian_planning::PathIKOptions &options)
Eigen::MatrixXd	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)
void	bindCartesianPlanning (py::module &parent)
Eigen::VectorXd	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)
void	bindKinematics (py::module &m)

Enumeration Type Documentation

SolveMode

enum class moveit_pro_py::kinematics::SolveMode

strong

Enumerator
FirstFound
OptimizeDistance

Function Documentation

bindCartesianPlanning() [1/2]

void moveit_pro_py::kinematics::bindCartesianPlanning

(

py::module &

parent

)

bindCartesianPlanning() [2/2]

void moveit_pro_py::kinematics::bindCartesianPlanning

(

pybind11::module &

parent

)

bindKinematics() [1/2]

void moveit_pro_py::kinematics::bindKinematics

(

py::module &

m

)

bindKinematics() [2/2]

void moveit_pro_py::kinematics::bindKinematics

(

pybind11::module &

m

)

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
	)

pathIK()

std::tuple< cartesian_planning::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 cartesian_planning::Path &	reference_path,
		const cartesian_planning::PathIKOptions &	options
	)

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

MessageError

if inputs are invalid or initialization fails

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
	)