moveit_pro_py::kinematics Namespace Reference

Enumerations
enum class	SolveMode { FirstFound , OptimizeDistance }

Functions
void	bindCartesianPlanning (pybind11::module &parent)
void	bindKinematics (pybind11::module &m)
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
	)

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
	)