pr2_arm_kinematics::PR2ArmIKSolver Class Reference

#include <pr2_arm_kinematics_plugin.h>

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Public Member Functions
	PR2ArmIKSolver (const urdf::ModelInterface &robot_model, const std::string &root_frame_name, const std::string &tip_frame_name, const double &search_discretization_angle, const int &free_angle)
	~PR2ArmIKSolver () override
void	updateInternalDataStructures () override
int	CartToJnt (const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out) override
int	cartToJntSearch (const KDL::JntArray &q_in, const KDL::Frame &p_in, KDL::JntArray &q_out, const double &timeout)
void	getSolverInfo (moveit_msgs::msg::KinematicSolverInfo &response)

Public Attributes
PR2ArmIK	pr2_arm_ik_
	The PR2 inverse kinematics solver. More...
bool	active_
	Indicates whether the solver has been successfully initialized. More...

Detailed Description

Definition at line 69 of file pr2_arm_kinematics_plugin.h.

Constructor & Destructor Documentation

PR2ArmIKSolver()

pr2_arm_kinematics::PR2ArmIKSolver::PR2ArmIKSolver	(	const urdf::ModelInterface &	robot_model,
		const std::string &	root_frame_name,
		const std::string &	tip_frame_name,
		const double &	search_discretization_angle,
		const int &	free_angle
	)

Definition at line 89 of file pr2_arm_kinematics_plugin.cpp.

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~PR2ArmIKSolver()

pr2_arm_kinematics::PR2ArmIKSolver::~PR2ArmIKSolver ( )

inlineoverride

Definition at line 85 of file pr2_arm_kinematics_plugin.h.

Member Function Documentation

CartToJnt()

int pr2_arm_kinematics::PR2ArmIKSolver::CartToJnt ( const KDL::JntArray &  q_init, const KDL::Frame &  p_in, KDL::JntArray &  q_out  )

override

Definition at line 106 of file pr2_arm_kinematics_plugin.cpp.

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cartToJntSearch()

int pr2_arm_kinematics::PR2ArmIKSolver::cartToJntSearch	(	const KDL::JntArray &	q_in,
		const KDL::Frame &	p_in,
		KDL::JntArray &	q_out,
		const double &	timeout
	)

Definition at line 162 of file pr2_arm_kinematics_plugin.cpp.

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getSolverInfo()

void pr2_arm_kinematics::PR2ArmIKSolver::getSolverInfo ( moveit_msgs::msg::KinematicSolverInfo &  response )

inline

Definition at line 103 of file pr2_arm_kinematics_plugin.h.

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updateInternalDataStructures()

void pr2_arm_kinematics::PR2ArmIKSolver::updateInternalDataStructures ( )

override

Definition at line 100 of file pr2_arm_kinematics_plugin.cpp.

Member Data Documentation

active_

bool pr2_arm_kinematics::PR2ArmIKSolver::active_

Indicates whether the solver has been successfully initialized.

Definition at line 97 of file pr2_arm_kinematics_plugin.h.

pr2_arm_ik_

PR2ArmIK pr2_arm_kinematics::PR2ArmIKSolver::pr2_arm_ik_

The PR2 inverse kinematics solver.

Definition at line 92 of file pr2_arm_kinematics_plugin.h.

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

• moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h
• moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp