bio_ik_kinematics_plugin::BioIKKinematicsPlugin Struct Reference

Inheritance diagram for bio_ik_kinematics_plugin::BioIKKinematicsPlugin:

Collaboration diagram for bio_ik_kinematics_plugin::BioIKKinematicsPlugin:

Public Member Functions
virtual const std::vector< std::string > &	getJointNames () const
virtual const std::vector< std::string > &	getLinkNames () const
virtual bool	getPositionFK (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::Pose > &poses) const
virtual bool	getPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, std::vector< double > &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
bool	load (const moveit::core::RobotModelConstPtr &model, std::string robot_description, std::string group_name)
virtual bool	initialize (const std::string &robot_description, const std::string &group_name, const std::string &base_frame, const std::string &tip_frame, double search_discretization)
virtual bool	initialize (const std::string &robot_description, const std::string &group_name, const std::string &base_frame, const std::vector< std::string > &tip_frames, double search_discretization)
virtual bool	initialize (const moveit::core::RobotModel &robot_model, const std::string &group_name, const std::string &base_frame, const std::vector< std::string > &tip_frames, double search_discretization)
virtual bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, std::vector< double > &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
virtual bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
virtual bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
virtual bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
virtual bool	searchPositionIK (const std::vector< geometry_msgs::Pose > &ik_poses, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions(), const moveit::core::RobotState *context_state=NULL) const
virtual bool	supportsGroup (const moveit::core::JointModelGroup *jmg, std::string *error_text_out=0) const

Static Public Member Functions
static moveit::core::RobotModelConstPtr	loadRobotModel (const std::string &robot_description)

Public Attributes
std::vector< std::string >	joint_names
std::vector< std::string >	link_names
moveit::core::RobotModelConstPtr	robot_model
const moveit::core::JointModelGroup *	joint_model_group
std::unique_ptr< IKParallel >	ik
std::vector< double >	state
std::vector< double >	temp
std::unique_ptr< moveit::core::RobotState >	temp_state
std::vector< Frame >	tipFrames
RobotInfo	robot_info
bool	enable_profiler
EigenSTL::vector_Isometry3d	tip_reference_frames
std::vector< std::unique_ptr< Goal > >	default_goals
std::vector< const bio_ik::Goal * >	all_goals
IKParams	ikparams
Problem	problem

Detailed Description

Definition at line 117 of file kinematics_plugin.cpp.

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The documentation for this struct was generated from the following file:

• src/kinematics_plugin.cpp