Inheritance diagram for prbt_manipulator::IKFastKinematicsPlugin:
Collaboration diagram for prbt_manipulator::IKFastKinematicsPlugin:
Public Member Functions | |
| IKFastKinematicsPlugin () | |
| bool | getPositionIK (const geometry_msgs::msg::Pose &ik_pose, const std::vector< double > &ik_seed_state, std::vector< double > &solution, moveit_msgs::msg::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const override |
| Given a desired pose of the end-effector, compute the joint angles to reach it. More... | |
| bool | getPositionIK (const std::vector< geometry_msgs::msg::Pose > &ik_poses, const std::vector< double > &ik_seed_state, std::vector< std::vector< double >> &solutions, kinematics::KinematicsResult &result, const kinematics::KinematicsQueryOptions &options) const override |
| Given a desired pose of the end-effector, compute the set joint angles solutions that are able to reach it. More... | |
| bool | searchPositionIK (const geometry_msgs::msg::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, std::vector< double > &solution, moveit_msgs::msg::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const override |
| Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines). More... | |
| bool | searchPositionIK (const geometry_msgs::msg::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, moveit_msgs::msg::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const override |
| Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines). More... | |
| bool | searchPositionIK (const geometry_msgs::msg::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::msg::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const override |
| Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines). More... | |
| bool | searchPositionIK (const geometry_msgs::msg::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::msg::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const override |
| Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines). The consistency_limit specifies that only certain redundancy positions around those specified in the seed state are admissible and need to be searched. More... | |
| bool | getPositionFK (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::msg::Pose > &poses) const override |
| Given a set of joint angles and a set of links, compute their pose. More... | |
| void | setSearchDiscretization (const std::map< unsigned int, double > &discretization) |
| Sets the discretization value for the redundant joint. More... | |
| bool | setRedundantJoints (const std::vector< unsigned int > &redundant_joint_indices) override |
| Overrides the default method to prevent changing the redundant joints. More... | |
 Public Member Functions inherited from kinematics::KinematicsBase | |
| virtual bool | getPositionIK (const std::vector< geometry_msgs::msg::Pose > &ik_poses, const std::vector< double > &ik_seed_state, std::vector< std::vector< double > > &solutions, KinematicsResult &result, const kinematics::KinematicsQueryOptions &options) const |
| Given the desired poses of all end-effectors, compute joint angles that are able to reach it. More... | |
| virtual bool | searchPositionIK (const std::vector< geometry_msgs::msg::Pose > &ik_poses, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::msg::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions(), const moveit::core::RobotState *context_state=nullptr) const |
| Given a set of desired poses for a planning group with multiple end-effectors, search for the joint angles required to reach them. This is useful for e.g. biped robots that need to perform whole-body IK. Not necessary for most robots that have kinematic chains. This particular method is intended for "searching" for a solution by stepping through the redundancy (or other numerical routines). More... | |
| virtual bool | searchPositionIK (const std::vector< geometry_msgs::msg::Pose > &ik_poses, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, const IKCallbackFn &solution_callback, const IKCostFn &cost_function, moveit_msgs::msg::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions(), const moveit::core::RobotState *context_state=nullptr) const |
| Given a set of desired poses for a planning group with multiple end-effectors, search for the joint angles required to reach them. This is useful for e.g. biped robots that need to perform whole-body IK. Not necessary for most robots that have kinematic chains. This particular method is intended for "searching" for a solution by stepping through the redundancy (or other numerical routines). More... | |
| virtual void | setValues (const std::string &robot_description, const std::string &group_name, const std::string &base_frame, const std::vector< std::string > &tip_frames, double search_discretization) |
| Set the parameters for the solver, for use with non-chain IK solvers. More... | |
| virtual const std::string & | getGroupName () const |
| Return the name of the group that the solver is operating on. More... | |
| virtual const std::string & | getBaseFrame () const |
| Return the name of the frame in which the solver is operating. This is usually a link name. No namespacing (e.g., no "/" prefix) should be used. More... | |
| virtual const std::string & | getTipFrame () const |
| Return the name of the tip frame of the chain on which the solver is operating. This is usually a link name. No namespacing (e.g., no "/" prefix) should be used. More... | |
| virtual const std::vector< std::string > & | getTipFrames () const |
| Return the names of the tip frames of the kinematic tree on which the solver is operating. This is usually a link name. No namespacing (e.g., no "/" prefix) should be used. More... | |
| bool | setRedundantJoints (const std::vector< std::string > &redundant_joint_names) |
| Set a set of redundant joints for the kinematics solver to use. This function is just a convenience function that calls the previous definition of setRedundantJoints() More... | |
| virtual void | getRedundantJoints (std::vector< unsigned int > &redundant_joint_indices) const |
| Get the set of redundant joints. More... | |
| virtual bool | supportsGroup (const moveit::core::JointModelGroup *jmg, std::string *error_text_out=nullptr) const |
| Check if this solver supports a given JointModelGroup. More... | |
| void | setSearchDiscretization (double sd) |
| Set the search discretization value for all the redundant joints. More... | |
| void | setSearchDiscretization (const std::map< int, double > &discretization) |
| Sets individual discretization values for each redundant joint. More... | |
| double | getSearchDiscretization (int joint_index=0) const |
| Get the value of the search discretization. More... | |
| std::vector< DiscretizationMethod > | getSupportedDiscretizationMethods () const |
| Returns the set of supported kinematics discretization search types. This implementation only supports the DiscretizationMethods::ONE search. More... | |
| void | setDefaultTimeout (double timeout) |
| For functions that require a timeout specified but one is not specified using arguments, a default timeout is used, as set by this function (and initialized to KinematicsBase::DEFAULT_TIMEOUT) More... | |
| double | getDefaultTimeout () const |
| For functions that require a timeout specified but one is not specified using arguments, this default timeout is used. More... | |
| virtual | ~KinematicsBase () |
| Virtual destructor for the interface. More... | |
| KinematicsBase () | |
Additional Inherited Members | |
| Public Types inherited from kinematics::KinematicsBase | |
| using | IKCallbackFn = std::function< void(const geometry_msgs::msg::Pose &, const std::vector< double > &, moveit_msgs::msg::MoveItErrorCodes &)> |
| Signature for a callback to validate an IK solution. Typically used for collision checking. More... | |
| using | IKCostFn = std::function< double(const geometry_msgs::msg::Pose &, const moveit::core::RobotState &, moveit::core::JointModelGroup const *, const std::vector< double > &)> |
| Signature for a cost function used to evaluate IK solutions. More... | |
| Static Public Attributes inherited from kinematics::KinematicsBase | |
| static const rclcpp::Logger | LOGGER = rclcpp::get_logger("moveit_kinematics_base.kinematics_base") |
| static const double | DEFAULT_SEARCH_DISCRETIZATION = 0.1 |
| static const double | DEFAULT_TIMEOUT = 1.0 |
| Protected Member Functions inherited from kinematics::KinematicsBase | |
| template<typename T > | |
| bool | lookupParam (const rclcpp::Node::SharedPtr &node, const std::string ¶m, T &val, const T &default_val) const |
| Enables kinematics plugins access to parameters that are defined for the private namespace and inside 'robot_description_kinematics'. Parameters are searched in the following locations and order. More... | |
| void | storeValues (const moveit::core::RobotModel &robot_model, const std::string &group_name, const std::string &base_frame, const std::vector< std::string > &tip_frames, double search_discretization) |
| Protected Attributes inherited from kinematics::KinematicsBase | |
| rclcpp::Node::SharedPtr | node_ |
| moveit::core::RobotModelConstPtr | robot_model_ |
| std::string | robot_description_ |
| std::string | group_name_ |
| std::string | base_frame_ |
| std::vector< std::string > | tip_frames_ |
| double | default_timeout_ |
| std::vector< unsigned int > | redundant_joint_indices_ |
| std::map< int, double > | redundant_joint_discretization_ |
| std::vector< DiscretizationMethod > | supported_methods_ |
Detailed Description
Definition at line 162 of file prbt_manipulator_ikfast_moveit_plugin.cpp.
Constructor & Destructor Documentation
◆ IKFastKinematicsPlugin()
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inline |
Definition at line 207 of file prbt_manipulator_ikfast_moveit_plugin.cpp.
Member Function Documentation
◆ getPositionFK()
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overridevirtual |
Given a set of joint angles and a set of links, compute their pose.
- Parameters
-
link_names A set of links for which FK needs to be computed joint_angles The state for which FK is being computed poses The resultant set of poses (in the frame returned by getBaseFrame())
- Returns
- True if a valid solution was found, false otherwise
Implements kinematics::KinematicsBase.
Definition at line 770 of file prbt_manipulator_ikfast_moveit_plugin.cpp.
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◆ getPositionIK() [1/2]
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overridevirtual |
Given a desired pose of the end-effector, compute the joint angles to reach it.
- Parameters
-
ik_pose the desired pose of the link ik_seed_state an initial guess solution for the inverse kinematics solution the solution vector error_code an error code that encodes the reason for failure or success
- Returns
- True if a valid solution was found, false otherwise
Implements kinematics::KinematicsBase.
Definition at line 1088 of file prbt_manipulator_ikfast_moveit_plugin.cpp.
◆ getPositionIK() [2/2]
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override |
Given a desired pose of the end-effector, compute the set joint angles solutions that are able to reach it.
This is a default implementation that returns only one solution and so its result is equivalent to calling 'getPositionIK(...)' with a zero initialized seed.
- Parameters
-
ik_poses The desired pose of each tip link ik_seed_state an initial guess solution for the inverse kinematics solutions A vector of vectors where each entry is a valid joint solution result A struct that reports the results of the query options An option struct which contains the type of redundancy discretization used. This default implementation only supports the KinmaticSearches::NO_DISCRETIZATION method; requesting any other will result in failure.
- Returns
- True if a valid set of solutions was found, false otherwise.
Definition at line 1195 of file prbt_manipulator_ikfast_moveit_plugin.cpp.
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◆ searchPositionIK() [1/4]
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overridevirtual |
Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines). The consistency_limit specifies that only certain redundancy positions around those specified in the seed state are admissible and need to be searched.
- Parameters
-
ik_pose the desired pose of the link ik_seed_state an initial guess solution for the inverse kinematics consistency_limit the distance that the redundancy can be from the current position
- Returns
- True if a valid solution was found, false otherwise
Implements kinematics::KinematicsBase.
Definition at line 857 of file prbt_manipulator_ikfast_moveit_plugin.cpp.
◆ searchPositionIK() [2/4]
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overridevirtual |
Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).
- Parameters
-
ik_pose the desired pose of the link ik_seed_state an initial guess solution for the inverse kinematics the distance that the redundancy can be from the current position
- Returns
- True if a valid solution was found, false otherwise
Implements kinematics::KinematicsBase.
Definition at line 836 of file prbt_manipulator_ikfast_moveit_plugin.cpp.
◆ searchPositionIK() [3/4]
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overridevirtual |
Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).
- Parameters
-
ik_pose the desired pose of the link ik_seed_state an initial guess solution for the inverse kinematics
- Returns
- True if a valid solution was found, false otherwise
Implements kinematics::KinematicsBase.
Definition at line 846 of file prbt_manipulator_ikfast_moveit_plugin.cpp.
◆ searchPositionIK() [4/4]
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overridevirtual |
Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).
- Parameters
-
ik_pose the desired pose of the link ik_seed_state an initial guess solution for the inverse kinematics
- Returns
- True if a valid solution was found, false otherwise
Implements kinematics::KinematicsBase.
Definition at line 826 of file prbt_manipulator_ikfast_moveit_plugin.cpp.
◆ setRedundantJoints()
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overridevirtual |
Overrides the default method to prevent changing the redundant joints.
Reimplemented from kinematics::KinematicsBase.
Definition at line 551 of file prbt_manipulator_ikfast_moveit_plugin.cpp.
◆ setSearchDiscretization()
| void prbt_manipulator::IKFastKinematicsPlugin::setSearchDiscretization | ( | const std::map< unsigned int, double > & | discretization | ) |
Sets the discretization value for the redundant joint.
Since this ikfast implementation allows for one redundant joint then only the first entry will be in the discretization map will be used. Calling this method replaces previous discretization settings.
- Parameters
-
discretization a map of joint indices and discretization value pairs.
Definition at line 518 of file prbt_manipulator_ikfast_moveit_plugin.cpp.
The documentation for this class was generated from the following file:
- moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_moveit_plugin.cpp
