pr2_arm_kinematics::PR2ArmIK Class Reference

#include <pr2_arm_ik.h>

Public Member Functions
	PR2ArmIK ()
	~PR2ArmIK ()
bool	init (const urdf::ModelInterface &robot_model, const std::string &root_name, const std::string &tip_name)
	Initialize the solver by providing a urdf::Model and a root and tip name. More...
void	computeIKShoulderPan (const Eigen::Isometry3f &g_in, const double &shoulder_pan_initial_guess, std::vector< std::vector< double > > &solution) const
	compute IK based on an initial guess for the shoulder pan angle. More...
void	computeIKShoulderRoll (const Eigen::Isometry3f &g_in, const double &shoulder_roll_initial_guess, std::vector< std::vector< double > > &solution) const
	compute IK based on an initial guess for the shoulder roll angle. h More...
void	getSolverInfo (moveit_msgs::msg::KinematicSolverInfo &info)
	get chain information about the arm. This populates the IK query response, filling in joint level information including names and joint limits. More...

Public Attributes
moveit_msgs::msg::KinematicSolverInfo	solver_info_
	get chain information about the arm. More...

Detailed Description

Definition at line 118 of file pr2_arm_ik.h.

Constructor & Destructor Documentation

PR2ArmIK()

pr2_arm_kinematics::PR2ArmIK::PR2ArmIK

(

)

Definition at line 54 of file pr2_arm_ik.cpp.

~PR2ArmIK()

pr2_arm_kinematics::PR2ArmIK::~PR2ArmIK ( )

inline

Definition at line 127 of file pr2_arm_ik.h.

Member Function Documentation

computeIKShoulderPan()

void pr2_arm_kinematics::PR2ArmIK::computeIKShoulderPan	(	const Eigen::Isometry3f &	g_in,
		const double &	shoulder_pan_initial_guess,
		std::vector< std::vector< double > > &	solution
	)		const

compute IK based on an initial guess for the shoulder pan angle.

Parameters

Input	pose for end-effector
Initial	guess for shoulder pan angle

Definition at line 201 of file pr2_arm_ik.cpp.

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computeIKShoulderRoll()

void pr2_arm_kinematics::PR2ArmIK::computeIKShoulderRoll	(	const Eigen::Isometry3f &	g_in,
		const double &	shoulder_roll_initial_guess,
		std::vector< std::vector< double > > &	solution
	)		const

compute IK based on an initial guess for the shoulder roll angle. h

Parameters

Input	pose for end-effector
Initial	guess for shoulder roll angle

Definition at line 466 of file pr2_arm_ik.cpp.

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getSolverInfo()

void pr2_arm_kinematics::PR2ArmIK::getSolverInfo

(

moveit_msgs::msg::KinematicSolverInfo &

info

)

get chain information about the arm. This populates the IK query response, filling in joint level information including names and joint limits.

Parameters

The	response structure to be filled in.

Definition at line 196 of file pr2_arm_ik.cpp.

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init()

bool pr2_arm_kinematics::PR2ArmIK::init	(	const urdf::ModelInterface &	robot_model,
		const std::string &	root_name,
		const std::string &	tip_name
	)

Initialize the solver by providing a urdf::Model and a root and tip name.

Parameters

A	urdf::Model representation of the PR2 robot model
The	root joint name of the arm
The	tip joint name of the arm

Returns

true if initialization was successful, false otherwise.

Definition at line 58 of file pr2_arm_ik.cpp.

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Member Data Documentation

solver_info_

moveit_msgs::msg::KinematicSolverInfo pr2_arm_kinematics::PR2ArmIK::solver_info_

get chain information about the arm.

Definition at line 166 of file pr2_arm_ik.h.

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

• moveit_core/constraint_samplers/test/pr2_arm_ik.h
• moveit_core/constraint_samplers/test/pr2_arm_ik.cpp