pose_ik Namespace Reference

Classes
struct	PoseTarget

Typedefs
using	IKValidationFunction = std::function< bool(const Eigen::VectorXd &solution)>

Functions
bool	emptyValidationFunction (const Eigen::VectorXd &)
tl::expected< Eigen::VectorXd, std::string >	solveIK (moveit_pro::base::RobotState &robot_state, const moveit_pro::base::JointModelGroup &group, const std::vector< PoseTarget > &targets, const Eigen::VectorXd &seed, const rclcpp::Duration &timeout, const IKValidationFunction &validation_fn, const Params &params)
	Computes pose inverse kinematics for the given group and set of targets.
tl::expected< void, std::string >	checkPreconditions (const moveit_pro::base::JointModelGroup &group, const std::vector< PoseTarget > &targets, const Eigen::VectorXd &seed)
bool	unwindAndCheckLimits (const moveit_pro::base::JointModelGroup &group, Eigen::VectorXd &joint_values)

Variables
constexpr auto	kSolveModeFirstFound = "first_found"
constexpr auto	kSolveModeOptimizeDistance = "optimize_distance"
constexpr double	kMaxJointCost = 50.0

Typedef Documentation

IKValidationFunction

using pose_ik::IKValidationFunction = typedef std::function<bool(const Eigen::VectorXd& solution)>

Function Documentation

checkPreconditions()

tl::expected< void, std::string > pose_ik::checkPreconditions	(	const moveit_pro::base::JointModelGroup &	group,
		const std::vector< PoseTarget > &	targets,
		const Eigen::VectorXd &	seed
	)

emptyValidationFunction()

bool pose_ik::emptyValidationFunction ( const Eigen::VectorXd &  )

inline

solveIK()

tl::expected< Eigen::VectorXd, std::string > pose_ik::solveIK	(	moveit_pro::base::RobotState &	robot_state,
		const moveit_pro::base::JointModelGroup &	group,
		const std::vector< PoseTarget > &	targets,
		const Eigen::VectorXd &	seed,
		const rclcpp::Duration &	timeout,
		const IKValidationFunction &	validation_fn,
		const Params &	params
	)

Computes pose inverse kinematics for the given group and set of targets.

This implements a Jacobian-based Newton-Raphson IK solver. The random sequence used internally is deterministic: given the same inputs, the solver will always find the same solution.

Parameters

robot_state	A robot state, used to compute FK. It will be updated to the solution, if a solution is found, or arbitrarily if not.
group	The joint model group to compute IK for.
targets	The target poses to compute IK for.
seed	A joint configuration to be used as a first seed, before starting taking random configurations.
timeout	Search timeout in seconds.
params	Other IK parameters like tolerance, etc. params.joint_costs optionally holds one cost multiplier per active joint of group, in JointModelGroup::getActiveJointModelNames() order. A joint's cost scales how expensive it is to move away from seed, so raising it biases the solver toward solutions that move that joint less. Every entry must be finite and at least 1.0, the unbiased baseline; an empty list means "no bias", and kMaxJointCost is the accepted maximum — see that constant for why. Prefer the smallest cost that produces the bias you want. Costs only take effect when params.solve_mode is optimize_distance — see the error note below.

Returns

a joint-space solution that brings tip_link to root_pose_tip, or an error message if the preconditions are not met. Supplying non-empty params.joint_costs with params.solve_mode == "first_found" is an error rather than a no-op: that mode returns the first valid solution without ranking candidates, so the costs would otherwise be silently discarded. For the same reason, non-empty costs combined with a params.optimization_distance_gain that is not finite and strictly positive are also an error: zero flattens every candidate's cost, and a negative gain reverses the bias. That gain remains valid at zero when no costs are supplied, which is what the parameter's own validation allows.

unwindAndCheckLimits()

bool pose_ik::unwindAndCheckLimits	(	const moveit_pro::base::JointModelGroup &	group,
		Eigen::VectorXd &	joint_values
	)

Variable Documentation

kMaxJointCost

constexpr double pose_ik::kMaxJointCost = 50.0

inlineconstexpr

kSolveModeFirstFound

constexpr auto pose_ik::kSolveModeFirstFound = "first_found"

inlineconstexpr

kSolveModeOptimizeDistance

constexpr auto pose_ik::kSolveModeOptimizeDistance = "optimize_distance"

inlineconstexpr