path_ik.hpp File Reference

#include <moveit_pro_base/robot_model/robot_model.hpp>
#include <moveit_pro_base/robot_state/robot_state.hpp>
#include <tl_expected/expected.hpp>
#include <functional>
#include "cartesian_planning/types.hpp"

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Classes
struct	cartesian_planning::PathIKOptions

Namespaces
namespace	cartesian_planning

Typedefs
using	cartesian_planning::NullspaceOverrideFunction = std::function< Eigen::VectorXd(const Eigen::VectorXd &current_nullspace_component, const Eigen::VectorXd &current_joint_values)>
	Function signature for a custom nullspace task.

Enumerations
enum class	cartesian_planning::TipConstraint { cartesian_planning::kPositionOnly , cartesian_planning::kPositionAndOrientation }
	Possible task-space constraints when solving kinematics for a path. More...

Functions
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.
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.

Variables
constexpr double	cartesian_planning::kDefaultPathIkTranslationalStep = 0.001
constexpr double	cartesian_planning::kDefaultPathIkAngularStep = 0.001