#include <kinematics_cache.h>

Inheritance diagram for kinematics_cache::KinematicsCache:

Classes
struct	Options

Public Member Functions
	KinematicsCache ()

bool	generateCacheMap (double timeout)
	Generate the cache map spending timeout (seconds) on the generation process) More...

bool	getSolution (const geometry_msgs::Pose &pose, unsigned int solution_index, std::vector< double > &solution) const
	Get a candidate solution for a particular pose. Note that the pose will be projected onto the grid used in the caching process. More...

bool	getSolutions (const geometry_msgs::Pose &pose, std::vector< std::vector< double > > &solutions) const
	Get all candidate solutions for a particular pose. Note that the pose will be projected onto the grid used in the caching process. The size of the solutions vector MUST be pre-allocated to num_solutions (see getNumSolutions) More...

bool	getNumSolutions (const geometry_msgs::Pose &pose, unsigned int &num_solutions) const
	Get number of candidate solutions for a particular pose. More...

bool	initialize (kinematics::KinematicsBaseConstPtr &solver, const planning_models::RobotModelConstPtr &kinematic_model, const KinematicsCache::Options &opt)
	Initialize the cache class. More...

const kinematics::KinematicsBaseConstPtr &	getSolverInstance () const
	Return the instance of the kinematics solver. More...

const planning_models::RobotModelConstPtr &	getModelInstance () const
	Return the instance of the kinematics model. More...

const Options &	getCacheParameters () const
	Return the cache parameters used for cache construction. More...

const std::string	getGroupName ()

bool	addToCache (const geometry_msgs::Pose &pose, const std::vector< double > &joint_values, bool overwrite=false)
	Add a new solution to the cache at the given location. More...

bool	writeToFile (const std::string &filename)

bool	readFromFile (const std::string &filename)

std::pair< double, double >	getMinMaxSquaredDistance ()

	KinematicsCache ()

bool	generateCacheMap (double timeout)
	Generate the cache map spending timeout (seconds) on the generation process) More...

bool	getSolution (const geometry_msgs::Pose &pose, unsigned int solution_index, std::vector< double > &solution) const
	Get a candidate solution for a particular pose. Note that the pose will be projected onto the grid used in the caching process. More...

bool	getSolutions (const geometry_msgs::Pose &pose, std::vector< std::vector< double > > &solutions) const
	Get all candidate solutions for a particular pose. Note that the pose will be projected onto the grid used in the caching process. The size of the solutions vector MUST be pre-allocated to num_solutions (see getNumSolutions) More...

bool	getNumSolutions (const geometry_msgs::Pose &pose, unsigned int &num_solutions) const
	Get number of candidate solutions for a particular pose. More...

bool	initialize (kinematics::KinematicsBaseConstPtr &solver, const moveit::core::RobotModelConstPtr &kinematic_model, const KinematicsCache::Options &opt)
	Initialize the cache class. More...

const kinematics::KinematicsBaseConstPtr &	getSolverInstance () const
	Return the instance of the kinematics solver. More...

const moveit::core::RobotModelConstPtr &	getModelInstance () const
	Return the instance of the kinematics model. More...

const Options &	getCacheParameters () const
	Return the cache parameters used for cache construction. More...

const std::string &	getGroupName () const

bool	addToCache (const geometry_msgs::Pose &pose, const std::vector< double > &joint_values, bool overwrite=false)
	Add a new solution to the cache at the given location. More...

bool	writeToFile (const std::string &filename)

bool	readFromFile (const std::string &filename)

std::pair< double, double >	getMinMaxSquaredDistance ()

Detailed Description

Definition at line 48 of file kinematics_cache.h.

Constructor & Destructor Documentation

◆ KinematicsCache() [1/2]

kinematics_cache::KinematicsCache::KinematicsCache ( )

Definition at line 44 of file kinematics_cache.cpp.

◆ KinematicsCache() [2/2]

kinematics_cache::KinematicsCache::KinematicsCache ( )

Member Function Documentation

◆ addToCache() [1/2]

bool kinematics_cache::KinematicsCache::addToCache	(	const geometry_msgs::Pose &	pose,
		const std::vector< double > &	joint_values,
		bool	overwrite = `false`
	)

Add a new solution to the cache at the given location.

Definition at line 118 of file kinematics_cache.cpp.

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◆ addToCache() [2/2]

bool kinematics_cache::KinematicsCache::addToCache	(	const geometry_msgs::Pose &	pose,
		const std::vector< double > &	joint_values,
		bool	overwrite = `false`
	)

Add a new solution to the cache at the given location.

◆ generateCacheMap() [1/2]

bool kinematics_cache::KinematicsCache::generateCacheMap ( double timeout )

Generate the cache map spending timeout (seconds) on the generation process)

Parameters

timeout Time (in seconds) to be spent on generating the cache

Returns: True if cache map generation was successful

Definition at line 87 of file kinematics_cache.cpp.

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◆ generateCacheMap() [2/2]

bool kinematics_cache::KinematicsCache::generateCacheMap ( double timeout )

Generate the cache map spending timeout (seconds) on the generation process)

Parameters

timeout Time (in seconds) to be spent on generating the cache

Returns: True if cache map generation was successful

◆ getCacheParameters() [1/2]

const Options& kinematics_cache::KinematicsCache::getCacheParameters ( ) const

inline

Return the cache parameters used for cache construction.

Definition at line 121 of file kinematics_cache.h.

◆ getCacheParameters() [2/2]

const Options& kinematics_cache::KinematicsCache::getCacheParameters ( ) const

inline

Return the cache parameters used for cache construction.

Definition at line 121 of file kinematics_cache.h.

◆ getGroupName() [1/2]

const std::string kinematics_cache::KinematicsCache::getGroupName ( )

inline

Definition at line 126 of file kinematics_cache.h.

◆ getGroupName() [2/2]

const std::string& kinematics_cache::KinematicsCache::getGroupName ( ) const

inline

Definition at line 126 of file kinematics_cache.h.

◆ getMinMaxSquaredDistance() [1/2]

std::pair< double, double > kinematics_cache::KinematicsCache::getMinMaxSquaredDistance ( )

Definition at line 362 of file kinematics_cache.cpp.

◆ getMinMaxSquaredDistance() [2/2]

std::pair<double, double> kinematics_cache::KinematicsCache::getMinMaxSquaredDistance ( )

◆ getModelInstance() [1/2]

const planning_models::RobotModelConstPtr& kinematics_cache::KinematicsCache::getModelInstance ( ) const

inline

Return the instance of the kinematics model.

Definition at line 115 of file kinematics_cache.h.

◆ getModelInstance() [2/2]

const moveit::core::RobotModelConstPtr& kinematics_cache::KinematicsCache::getModelInstance ( ) const

inline

Return the instance of the kinematics model.

Definition at line 115 of file kinematics_cache.h.

◆ getNumSolutions() [1/2]

bool kinematics_cache::KinematicsCache::getNumSolutions	(	const geometry_msgs::Pose &	pose,
		unsigned int &	num_solutions
	)		const

Get number of candidate solutions for a particular pose.

Parameters

pose	The desired pose
solution_index	The solution index
solution	The actual solution

Returns: False if desired pose lies outside the grid

Definition at line 175 of file kinematics_cache.cpp.

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◆ getNumSolutions() [2/2]

bool kinematics_cache::KinematicsCache::getNumSolutions	(	const geometry_msgs::Pose &	pose,
		unsigned int &	num_solutions
	)		const

Get number of candidate solutions for a particular pose.

Parameters

pose	The desired pose
solution_index	The solution index
solution	The actual solution

Returns: False if desired pose lies outside the grid

◆ getSolution() [1/2]

bool kinematics_cache::KinematicsCache::getSolution	(	const geometry_msgs::Pose &	pose,
		unsigned int	solution_index,
		std::vector< double > &	solution
	)		const

Get a candidate solution for a particular pose. Note that the pose will be projected onto the grid used in the caching process.

Parameters

pose	The desired pose
solution_index	The solution index
solution	The actual solution

Returns: False if desired pose lies outside the grid

Definition at line 192 of file kinematics_cache.cpp.

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◆ getSolution() [2/2]

bool kinematics_cache::KinematicsCache::getSolution	(	const geometry_msgs::Pose &	pose,
		unsigned int	solution_index,
		std::vector< double > &	solution
	)		const

Get a candidate solution for a particular pose. Note that the pose will be projected onto the grid used in the caching process.

Parameters

pose	The desired pose
solution_index	The solution index
solution	The actual solution

Returns: False if desired pose lies outside the grid

◆ getSolutions() [1/2]

bool kinematics_cache::KinematicsCache::getSolutions	(	const geometry_msgs::Pose &	pose,
		std::vector< std::vector< double > > &	solutions
	)		const

Get all candidate solutions for a particular pose. Note that the pose will be projected onto the grid used in the caching process. The size of the solutions vector MUST be pre-allocated to num_solutions (see getNumSolutions)

Parameters

pose	The desired pose
solution_index	The solution index
solutions	The actual set of solutions

Returns: False if desired pose lies outside the grid or if size(solutions) is not set to num_solutions (see getNumSolutions)

Definition at line 207 of file kinematics_cache.cpp.

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◆ getSolutions() [2/2]

bool kinematics_cache::KinematicsCache::getSolutions	(	const geometry_msgs::Pose &	pose,
		std::vector< std::vector< double > > &	solutions
	)		const

Get all candidate solutions for a particular pose. Note that the pose will be projected onto the grid used in the caching process. The size of the solutions vector MUST be pre-allocated to num_solutions (see getNumSolutions)

Parameters

pose	The desired pose
solution_index	The solution index
solutions	The actual set of solutions

Returns: False if desired pose lies outside the grid or if size(solutions) is not set to num_solutions (see getNumSolutions)

◆ getSolverInstance() [1/2]

const kinematics::KinematicsBaseConstPtr& kinematics_cache::KinematicsCache::getSolverInstance ( ) const

inline

Return the instance of the kinematics solver.

Definition at line 109 of file kinematics_cache.h.

◆ getSolverInstance() [2/2]

const kinematics::KinematicsBaseConstPtr& kinematics_cache::KinematicsCache::getSolverInstance ( ) const

inline

Return the instance of the kinematics solver.

Definition at line 109 of file kinematics_cache.h.

◆ initialize() [1/2]

bool kinematics_cache::KinematicsCache::initialize	(	kinematics::KinematicsBaseConstPtr &	solver,
		const moveit::core::RobotModelConstPtr &	kinematic_model,
		const KinematicsCache::Options &	opt
	)

Initialize the cache class.

Parameters

solver	An instance of a kinematics solver
kinematic_model	An instance of a kinematic model
opt	Parameters needed for defining the cache workspace

Returns: False if any error occurred during initialization

Definition at line 48 of file kinematics_cache.cpp.

◆ initialize() [2/2]

bool kinematics_cache::KinematicsCache::initialize	(	kinematics::KinematicsBaseConstPtr &	solver,
		const planning_models::RobotModelConstPtr &	kinematic_model,
		const KinematicsCache::Options &	opt
	)

Initialize the cache class.

Parameters

solver	An instance of a kinematics solver
kinematic_model	An instance of a kinematic model
opt	Parameters needed for defining the cache workspace

Returns: False if any error occurred during initialization

Definition at line 48 of file kinematics_cache.cpp.

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◆ readFromFile() [1/2]

bool kinematics_cache::KinematicsCache::readFromFile ( const std::string & filename )

Definition at line 232 of file kinematics_cache.cpp.

◆ readFromFile() [2/2]

bool kinematics_cache::KinematicsCache::readFromFile ( const std::string & filename )

◆ writeToFile() [1/2]

bool kinematics_cache::KinematicsCache::writeToFile ( const std::string & filename )

Definition at line 325 of file kinematics_cache.cpp.

◆ writeToFile() [2/2]

bool kinematics_cache::KinematicsCache::writeToFile ( const std::string & filename )

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

moveit_experimental/kinematics_cache/v1/kinematics_cache/include/kinematics_cache/kinematics_cache.h
moveit_experimental/kinematics_cache/v1/kinematics_cache/src/kinematics_cache.cpp

Classes

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ KinematicsCache() [1/2]

◆ KinematicsCache() [2/2]

Member Function Documentation

◆ addToCache() [1/2]

◆ addToCache() [2/2]

◆ generateCacheMap() [1/2]

◆ generateCacheMap() [2/2]

◆ getCacheParameters() [1/2]

◆ getCacheParameters() [2/2]

◆ getGroupName() [1/2]

◆ getGroupName() [2/2]

◆ getMinMaxSquaredDistance() [1/2]

◆ getMinMaxSquaredDistance() [2/2]

◆ getModelInstance() [1/2]

◆ getModelInstance() [2/2]

◆ getNumSolutions() [1/2]

◆ getNumSolutions() [2/2]

◆ getSolution() [1/2]

◆ getSolution() [2/2]

◆ getSolutions() [1/2]

◆ getSolutions() [2/2]

◆ getSolverInstance() [1/2]

◆ getSolverInstance() [2/2]

◆ initialize() [1/2]

◆ initialize() [2/2]

◆ readFromFile() [1/2]

◆ readFromFile() [2/2]

◆ writeToFile() [1/2]

◆ writeToFile() [2/2]