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The MoveIt Motion Planning Framework for ROS 2.
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_NAMESPACE_::IKFastKinematicsPlugin Class Reference
Inheritance diagram for _NAMESPACE_::IKFastKinematicsPlugin:
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Public Member Functions

 IKFastKinematicsPlugin ()
 
bool getPositionIK (const geometry_msgs::msg::Pose &ik_pose, const std::vector< double > &ik_seed_state, std::vector< double > &solution, moveit_msgs::msg::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const override
 Given a desired pose of the end-effector, compute the joint angles to reach it. More...
 
bool getPositionIK (const std::vector< geometry_msgs::msg::Pose > &ik_poses, const std::vector< double > &ik_seed_state, std::vector< std::vector< double >> &solutions, kinematics::KinematicsResult &result, const kinematics::KinematicsQueryOptions &options) const override
 Given a desired pose of the end-effector, compute the set joint angles solutions that are able to reach it. More...
 
bool searchPositionIK (const geometry_msgs::msg::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, std::vector< double > &solution, moveit_msgs::msg::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const override
 Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines). More...
 
bool searchPositionIK (const geometry_msgs::msg::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, moveit_msgs::msg::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const override
 Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines). More...
 
bool searchPositionIK (const geometry_msgs::msg::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::msg::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const override
 Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines). More...
 
bool searchPositionIK (const geometry_msgs::msg::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::msg::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const override
 Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines). The consistency_limit specifies that only certain redundancy positions around those specified in the seed state are admissible and need to be searched. More...
 
bool getPositionFK (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::msg::Pose > &poses) const override
 Given a set of joint angles and a set of links, compute their pose. More...
 
void setSearchDiscretization (const std::map< unsigned int, double > &discretization)
 Sets the discretization value for the redundant joint. More...
 
bool setRedundantJoints (const std::vector< unsigned int > &redundant_joint_indices) override
 Overrides the default method to prevent changing the redundant joints. More...
 
- Public Member Functions inherited from kinematics::KinematicsBase
virtual bool getPositionIK (const std::vector< geometry_msgs::msg::Pose > &ik_poses, const std::vector< double > &ik_seed_state, std::vector< std::vector< double > > &solutions, KinematicsResult &result, const kinematics::KinematicsQueryOptions &options) const
 Given the desired poses of all end-effectors, compute joint angles that are able to reach it. More...
 
virtual bool searchPositionIK (const std::vector< geometry_msgs::msg::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::msg::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions(), const moveit::core::RobotState *context_state=nullptr) const
 Given a set of desired poses for a planning group with multiple end-effectors, search for the joint angles required to reach them. This is useful for e.g. biped robots that need to perform whole-body IK. Not necessary for most robots that have kinematic chains. This particular method is intended for "searching" for a solution by stepping through the redundancy (or other numerical routines). More...
 
virtual bool searchPositionIK (const std::vector< geometry_msgs::msg::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, const IKCostFn &cost_function, moveit_msgs::msg::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions(), const moveit::core::RobotState *context_state=nullptr) const
 Given a set of desired poses for a planning group with multiple end-effectors, search for the joint angles required to reach them. This is useful for e.g. biped robots that need to perform whole-body IK. Not necessary for most robots that have kinematic chains. This particular method is intended for "searching" for a solution by stepping through the redundancy (or other numerical routines). More...
 
virtual void setValues (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)
 Set the parameters for the solver, for use with non-chain IK solvers. More...
 
virtual const std::string & getGroupName () const
 Return the name of the group that the solver is operating on. More...
 
virtual const std::string & getBaseFrame () const
 Return the name of the frame in which the solver is operating. This is usually a link name. No namespacing (e.g., no "/" prefix) should be used. More...
 
virtual const std::string & getTipFrame () const
 Return the name of the tip frame of the chain on which the solver is operating. This is usually a link name. No namespacing (e.g., no "/" prefix) should be used. More...
 
virtual const std::vector< std::string > & getTipFrames () const
 Return the names of the tip frames of the kinematic tree on which the solver is operating. This is usually a link name. No namespacing (e.g., no "/" prefix) should be used. More...
 
bool setRedundantJoints (const std::vector< std::string > &redundant_joint_names)
 Set a set of redundant joints for the kinematics solver to use. This function is just a convenience function that calls the previous definition of setRedundantJoints() More...
 
virtual void getRedundantJoints (std::vector< unsigned int > &redundant_joint_indices) const
 Get the set of redundant joints. More...
 
virtual bool supportsGroup (const moveit::core::JointModelGroup *jmg, std::string *error_text_out=nullptr) const
 Check if this solver supports a given JointModelGroup. More...
 
void setSearchDiscretization (double sd)
 Set the search discretization value for all the redundant joints. More...
 
void setSearchDiscretization (const std::map< int, double > &discretization)
 Sets individual discretization values for each redundant joint. More...
 
double getSearchDiscretization (int joint_index=0) const
 Get the value of the search discretization. More...
 
std::vector< DiscretizationMethodgetSupportedDiscretizationMethods () const
 Returns the set of supported kinematics discretization search types. This implementation only supports the DiscretizationMethods::ONE search. More...
 
void setDefaultTimeout (double timeout)
 For functions that require a timeout specified but one is not specified using arguments, a default timeout is used, as set by this function (and initialized to KinematicsBase::DEFAULT_TIMEOUT) More...
 
double getDefaultTimeout () const
 For functions that require a timeout specified but one is not specified using arguments, this default timeout is used. More...
 
virtual ~KinematicsBase ()
 Virtual destructor for the interface. More...
 
 KinematicsBase ()
 

Additional Inherited Members

- Public Types inherited from kinematics::KinematicsBase
using IKCallbackFn = std::function< void(const geometry_msgs::msg::Pose &, const std::vector< double > &, moveit_msgs::msg::MoveItErrorCodes &)>
 Signature for a callback to validate an IK solution. Typically used for collision checking. More...
 
using IKCostFn = std::function< double(const geometry_msgs::msg::Pose &, const moveit::core::RobotState &, moveit::core::JointModelGroup const *, const std::vector< double > &)>
 Signature for a cost function used to evaluate IK solutions. More...
 
- Static Public Attributes inherited from kinematics::KinematicsBase
static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_kinematics_base.kinematics_base")
 
static const double DEFAULT_SEARCH_DISCRETIZATION = 0.1
 
static const double DEFAULT_TIMEOUT = 1.0
 
- Protected Member Functions inherited from kinematics::KinematicsBase
template<typename T >
bool lookupParam (const rclcpp::Node::SharedPtr &node, const std::string &param, T &val, const T &default_val) const
 Enables kinematics plugins access to parameters that are defined for the private namespace and inside 'robot_description_kinematics'. Parameters are searched in the following locations and order. More...
 
void storeValues (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)
 
- Protected Attributes inherited from kinematics::KinematicsBase
rclcpp::Node::SharedPtr node_
 
moveit::core::RobotModelConstPtr robot_model_
 
std::string robot_description_
 
std::string group_name_
 
std::string base_frame_
 
std::vector< std::string > tip_frames_
 
double default_timeout_
 
std::vector< unsigned int > redundant_joint_indices_
 
std::map< int, double > redundant_joint_discretization_
 
std::vector< DiscretizationMethodsupported_methods_
 

Detailed Description

Definition at line 153 of file ikfast61_moveit_plugin_template.cpp.

Constructor & Destructor Documentation

◆ IKFastKinematicsPlugin()

_NAMESPACE_::IKFastKinematicsPlugin::IKFastKinematicsPlugin ( )
inline

Definition at line 199 of file ikfast61_moveit_plugin_template.cpp.

Member Function Documentation

◆ getPositionFK()

bool _NAMESPACE_::IKFastKinematicsPlugin::getPositionFK ( const std::vector< std::string > &  link_names,
const std::vector< double > &  joint_angles,
std::vector< geometry_msgs::msg::Pose > &  poses 
) const
overridevirtual

Given a set of joint angles and a set of links, compute their pose.

Parameters
link_namesA set of links for which FK needs to be computed
joint_anglesThe state for which FK is being computed
posesThe resultant set of poses (in the frame returned by getBaseFrame())
Returns
True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 766 of file ikfast61_moveit_plugin_template.cpp.

Here is the call graph for this function:

◆ getPositionIK() [1/2]

bool _NAMESPACE_::IKFastKinematicsPlugin::getPositionIK ( const geometry_msgs::msg::Pose &  ik_pose,
const std::vector< double > &  ik_seed_state,
std::vector< double > &  solution,
moveit_msgs::msg::MoveItErrorCodes &  error_code,
const kinematics::KinematicsQueryOptions options = kinematics::KinematicsQueryOptions() 
) const
overridevirtual

Given a desired pose of the end-effector, compute the joint angles to reach it.

Parameters
ik_posethe desired pose of the link
ik_seed_statean initial guess solution for the inverse kinematics
solutionthe solution vector
error_codean error code that encodes the reason for failure or success
Returns
True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 1086 of file ikfast61_moveit_plugin_template.cpp.

◆ getPositionIK() [2/2]

bool _NAMESPACE_::IKFastKinematicsPlugin::getPositionIK ( const std::vector< geometry_msgs::msg::Pose > &  ik_poses,
const std::vector< double > &  ik_seed_state,
std::vector< std::vector< double >> &  solutions,
kinematics::KinematicsResult result,
const kinematics::KinematicsQueryOptions options 
) const
override

Given a desired pose of the end-effector, compute the set joint angles solutions that are able to reach it.

This is a default implementation that returns only one solution and so its result is equivalent to calling 'getPositionIK(...)' with a zero initialized seed.

Parameters
ik_posesThe desired pose of each tip link
ik_seed_statean initial guess solution for the inverse kinematics
solutionsA vector of vectors where each entry is a valid joint solution
resultA struct that reports the results of the query
optionsAn option struct which contains the type of redundancy discretization used. This default implementation only supports the KinmaticSearches::NO_DISCRETIZATION method; requesting any other will result in failure.
Returns
True if a valid set of solutions was found, false otherwise.

Definition at line 1195 of file ikfast61_moveit_plugin_template.cpp.

◆ searchPositionIK() [1/4]

bool _NAMESPACE_::IKFastKinematicsPlugin::searchPositionIK ( const geometry_msgs::msg::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::msg::MoveItErrorCodes &  error_code,
const kinematics::KinematicsQueryOptions options = kinematics::KinematicsQueryOptions() 
) const
overridevirtual

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines). The consistency_limit specifies that only certain redundancy positions around those specified in the seed state are admissible and need to be searched.

Parameters
ik_posethe desired pose of the link
ik_seed_statean initial guess solution for the inverse kinematics
consistency_limitthe distance that the redundancy can be from the current position
Returns
True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 855 of file ikfast61_moveit_plugin_template.cpp.

◆ searchPositionIK() [2/4]

bool _NAMESPACE_::IKFastKinematicsPlugin::searchPositionIK ( const geometry_msgs::msg::Pose &  ik_pose,
const std::vector< double > &  ik_seed_state,
double  timeout,
const std::vector< double > &  consistency_limits,
std::vector< double > &  solution,
moveit_msgs::msg::MoveItErrorCodes &  error_code,
const kinematics::KinematicsQueryOptions options = kinematics::KinematicsQueryOptions() 
) const
overridevirtual

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters
ik_posethe desired pose of the link
ik_seed_statean initial guess solution for the inverse kinematics
thedistance that the redundancy can be from the current position
Returns
True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 833 of file ikfast61_moveit_plugin_template.cpp.

◆ searchPositionIK() [3/4]

bool _NAMESPACE_::IKFastKinematicsPlugin::searchPositionIK ( const geometry_msgs::msg::Pose &  ik_pose,
const std::vector< double > &  ik_seed_state,
double  timeout,
std::vector< double > &  solution,
const IKCallbackFn solution_callback,
moveit_msgs::msg::MoveItErrorCodes &  error_code,
const kinematics::KinematicsQueryOptions options = kinematics::KinematicsQueryOptions() 
) const
overridevirtual

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters
ik_posethe desired pose of the link
ik_seed_statean initial guess solution for the inverse kinematics
Returns
True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 844 of file ikfast61_moveit_plugin_template.cpp.

◆ searchPositionIK() [4/4]

bool _NAMESPACE_::IKFastKinematicsPlugin::searchPositionIK ( const geometry_msgs::msg::Pose &  ik_pose,
const std::vector< double > &  ik_seed_state,
double  timeout,
std::vector< double > &  solution,
moveit_msgs::msg::MoveItErrorCodes &  error_code,
const kinematics::KinematicsQueryOptions options = kinematics::KinematicsQueryOptions() 
) const
overridevirtual

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters
ik_posethe desired pose of the link
ik_seed_statean initial guess solution for the inverse kinematics
Returns
True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 822 of file ikfast61_moveit_plugin_template.cpp.

◆ setRedundantJoints()

bool _NAMESPACE_::IKFastKinematicsPlugin::setRedundantJoints ( const std::vector< unsigned int > &  redundant_joint_indices)
overridevirtual

Overrides the default method to prevent changing the redundant joints.

Reimplemented from kinematics::KinematicsBase.

Definition at line 547 of file ikfast61_moveit_plugin_template.cpp.

◆ setSearchDiscretization()

void _NAMESPACE_::IKFastKinematicsPlugin::setSearchDiscretization ( const std::map< unsigned int, double > &  discretization)

Sets the discretization value for the redundant joint.

Since this ikfast implementation allows for one redundant joint then only the first entry will be in the discretization map will be used. Calling this method replaces previous discretization settings.

Parameters
discretizationa map of joint indices and discretization value pairs.

Definition at line 514 of file ikfast61_moveit_plugin_template.cpp.


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