Public Member Functions
	KinematicsLoaderImpl (const rclcpp::Node::SharedPtr &node, const std::string &robot_description, const std::map< std::string, std::vector< std::string >> &possible_kinematics_solvers, const std::map< std::string, std::vector< double >> &search_res, const std::map< std::string, std::vector< std::string >> &iksolver_to_tip_links)
	Pimpl Implementation of KinematicsLoader. More...

std::vector< std::string >	chooseTipFrames (const moveit::core::JointModelGroup *jmg)
	Helper function to decide which, and how many, tip frames a planning group has. More...

kinematics::KinematicsBasePtr	allocKinematicsSolver (const moveit::core::JointModelGroup *jmg)

kinematics::KinematicsBasePtr	allocKinematicsSolverWithCache (const moveit::core::JointModelGroup *jmg)

void	status () const

Detailed Description

Definition at line 64 of file kinematics_plugin_loader.cpp.

Constructor & Destructor Documentation

◆ KinematicsLoaderImpl()

kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::KinematicsLoaderImpl	(	const rclcpp::Node::SharedPtr &	node,
		const std::string &	robot_description,
		const std::map< std::string, std::vector< std::string >> &	possible_kinematics_solvers,
		const std::map< std::string, std::vector< double >> &	search_res,
		const std::map< std::string, std::vector< std::string >> &	iksolver_to_tip_links
	)

inline

Pimpl Implementation of KinematicsLoader.

Parameters

robot_description
possible_kinematics_solvers
search_res
iksolver_to_tip_links	- a map between each ik solver and a vector of custom-specified tip link(s)

Definition at line 74 of file kinematics_plugin_loader.cpp.

Member Function Documentation

◆ allocKinematicsSolver()

kinematics::KinematicsBasePtr kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::allocKinematicsSolver ( const moveit::core::JointModelGroup * jmg )

inline

Definition at line 143 of file kinematics_plugin_loader.cpp.

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◆ allocKinematicsSolverWithCache()

kinematics::KinematicsBasePtr kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::allocKinematicsSolverWithCache ( const moveit::core::JointModelGroup * jmg )

inline

Definition at line 227 of file kinematics_plugin_loader.cpp.

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◆ chooseTipFrames()

std::vector<std::string> kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::chooseTipFrames ( const moveit::core::JointModelGroup * jmg )

inline

Helper function to decide which, and how many, tip frames a planning group has.

Parameters