kinematics_constraint_aware::KinematicsConstraintAware Class Reference

#include <kinematics_constraint_aware.h>

Public Member Functions
	KinematicsConstraintAware (const moveit::core::RobotModelConstPtr &kinematic_model, const std::string &group_name)
	Default constructor. More...
bool	getIK (const planning_scene::PlanningSceneConstPtr &planning_scene, const kinematics_constraint_aware::KinematicsRequest &request, kinematics_constraint_aware::KinematicsResponse &response) const
	Solve the planning problem. More...
bool	getIK (const planning_scene::PlanningSceneConstPtr &planning_scene, const moveit_msgs::msg::GetConstraintAwarePositionIK::Request &request, moveit_msgs::msg::GetConstraintAwarePositionIK::Response &response) const
	Solve the planning problem. More...
const std::string &	getGroupName () const
const moveit::core::RobotModelConstPtr &	getRobotModel () const

Detailed Description

Definition at line 66 of file kinematics_constraint_aware.h.

Constructor & Destructor Documentation

KinematicsConstraintAware()

kinematics_constraint_aware::KinematicsConstraintAware::KinematicsConstraintAware	(	const moveit::core::RobotModelConstPtr &	kinematic_model,
		const std::string &	group_name
	)

Default constructor.

Parameters

kinematic_model	An instance of a kinematic model
group_name	The name of the group to configure this solver for

Returns

False if any error occurs

Definition at line 48 of file kinematics_constraint_aware.cpp.

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Member Function Documentation

getGroupName()

const std::string& kinematics_constraint_aware::KinematicsConstraintAware::getGroupName ( ) const

inline

Definition at line 96 of file kinematics_constraint_aware.h.

getIK() [1/2]

bool kinematics_constraint_aware::KinematicsConstraintAware::getIK	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const kinematics_constraint_aware::KinematicsRequest &	request,
		kinematics_constraint_aware::KinematicsResponse &	response
	)		const

Solve the planning problem.

Parameters

planning_scene	A const reference to the planning scene
request	A const reference to the kinematics request
response	The solution (if it exists)

Returns

False if group_name is invalid or ik fails

Definition at line 103 of file kinematics_constraint_aware.cpp.

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getIK() [2/2]

bool kinematics_constraint_aware::KinematicsConstraintAware::getIK	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const moveit_msgs::msg::GetConstraintAwarePositionIK::Request &	request,
		moveit_msgs::msg::GetConstraintAwarePositionIK::Response &	response
	)		const

Solve the planning problem.

Parameters

planning_scene	A const reference to the planning scene
request	A const reference to the kinematics request
response	The solution (if it exists)

Returns

False if group_name is invalid or ik fails

Definition at line 251 of file kinematics_constraint_aware.cpp.

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getRobotModel()

const moveit::core::RobotModelConstPtr& kinematics_constraint_aware::KinematicsConstraintAware::getRobotModel ( ) const

inline

Definition at line 101 of file kinematics_constraint_aware.h.

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

• moveit_experimental/kinematics_constraint_aware/include/moveit/kinematics_constraint_aware/kinematics_constraint_aware.h
• moveit_experimental/kinematics_constraint_aware/src/kinematics_constraint_aware.cpp