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::core::RobotState &robot_state, const moveit::core::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::core::JointModelGroup &group, const std::vector< PoseTarget > &targets, const Eigen::VectorXd &seed)

bool	unwindAndCheckLimits (const moveit::core::JointModelGroup &group, Eigen::VectorXd &joint_values)

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::core::JointModelGroup &	group,
		const std::vector< PoseTarget > &	targets,
		const Eigen::VectorXd &	seed
	)

◆ emptyValidationFunction()

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

◆ solveIK()

tl::expected< Eigen::VectorXd, std::string > pose_ik::solveIK	(	moveit::core::RobotState &	robot_state,
		const moveit::core::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.

Returns: a joint-space solution that brings tip_link to root_pose_tip, or an error message if the preconditions are not met.

◆ unwindAndCheckLimits()

bool pose_ik::unwindAndCheckLimits	(	const moveit::core::JointModelGroup &	group,
		Eigen::VectorXd &	joint_values
	)

Classes

Typedefs