path_ik.cpp File Reference

#include "cartesian_planning/path_ik.hpp"
#include "cartesian_planning/damped_least_squares_inverse.hpp"
#include "cartesian_planning/interpolate.hpp"
#include "cartesian_planning/jacobian.hpp"
#include "cartesian_planning/math.hpp"
#include "cartesian_planning/nullspace_tasks.hpp"
#include "cartesian_planning/path_utils.hpp"
#include "cartesian_planning/types.hpp"
#include "cartesian_planning/velocity_inverse_kinematics.hpp"
#include "moveit_pro_macros/macros.hpp"
#include "moveit_studio_licensing/licensing.hpp"

Include dependency graph for path_ik.cpp:

Namespaces
namespace	cartesian_planning

Functions
tl::expected< JointSpacePath, ErrorType >	cartesian_planning::pathIK (moveit_pro::base::RobotState &robot_state, const moveit_pro::base::JointModelGroup &group, const moveit_pro::base::LinkModel &tip_link, const Path &reference_path, const PathIKOptions &options)
	Computes the incremental Inverse Kinematics over a given Cartesian path, for a single tip.
tl::expected< JointSpacePath, ErrorType >	cartesian_planning::pathIK (moveit_pro::base::RobotState &robot_state, const moveit_pro::base::JointModelGroup &group, const std::vector< const moveit_pro::base::LinkModel * > &tip_links, const Path &reference_path, const PathIKOptions &options)
	Computes the incremental Inverse Kinematics over a given Cartesian path, for multiple tips.

Variables
constexpr double	cartesian_planning::kMaxAllowedPathDeviationTranslation = 0.001
constexpr double	cartesian_planning::kMaxAllowedPathDeviationRotation = 0.001
constexpr double	cartesian_planning::kJacobianInverseDamping = 0.001
constexpr double	cartesian_planning::kDistanceToJointLimitThreshold = 0.001
constexpr double	cartesian_planning::kConvergenceThreshold = 1e-4

Variable Documentation

group

const moveit_pro::base::JointModelGroup& group

lower_limits

const Eigen::VectorXd& lower_limits

robot_state

moveit_pro::base::RobotState& robot_state

root_pose_tips_reference

const std::vector<Eigen::Isometry3d>& root_pose_tips_reference

root_pose_world

const Eigen::Isometry3d& root_pose_world

tip_links

const std::vector<const moveit_pro::base::LinkModel*>& tip_links

upper_limits

const Eigen::VectorXd& upper_limits