ikfast61_moveit_plugin_template.cpp File Reference

#include <rclcpp/rclcpp.hpp>
#include <moveit/kinematics_base/kinematics_base.h>
#include <moveit/robot_state/robot_state.h>
#include <Eigen/Geometry>
#include <tf2_kdl/tf2_kdl.hpp>
#include <tf2_eigen/tf2_eigen.hpp>
#include "_ROBOT_NAME___GROUP_NAME__ikfast_solver.cpp"
#include <pluginlib/class_list_macros.hpp>

Include dependency graph for ikfast61_moveit_plugin_template.cpp:

Go to the source code of this file.

Classes
struct	_NAMESPACE_::LimitObeyingSol
class	_NAMESPACE_::IKFastKinematicsPlugin

Namespaces
	_NAMESPACE_

Macros
#define	IKFAST_NO_MAIN

Enumerations
enum	SEARCH_MODE { OPTIMIZE_FREE_JOINT = 1 , OPTIMIZE_MAX_JOINT = 2 , OPTIMIZE_FREE_JOINT = 1 , OPTIMIZE_MAX_JOINT = 2 }
	Search modes for searchPositionIK(), see there. More...
enum	_NAMESPACE_::IkParameterizationType {   _NAMESPACE_::IKP_None = 0 , _NAMESPACE_::IKP_Transform6D = 0x67000001 , _NAMESPACE_::IKP_Rotation3D = 0x34000002 , _NAMESPACE_::IKP_Translation3D = 0x33000003 ,   _NAMESPACE_::IKP_Direction3D = 0x23000004 , _NAMESPACE_::IKP_Ray4D = 0x46000005 , _NAMESPACE_::IKP_Lookat3D = 0x23000006 , _NAMESPACE_::IKP_TranslationDirection5D = 0x56000007 ,   _NAMESPACE_::IKP_TranslationXY2D = 0x22000008 , _NAMESPACE_::IKP_TranslationXYOrientation3D = 0x33000009 , _NAMESPACE_::IKP_TranslationLocalGlobal6D = 0x3600000a , _NAMESPACE_::IKP_TranslationXAxisAngle4D = 0x4400000b ,   _NAMESPACE_::IKP_TranslationYAxisAngle4D = 0x4400000c , _NAMESPACE_::IKP_TranslationZAxisAngle4D = 0x4400000d , _NAMESPACE_::IKP_TranslationXAxisAngleZNorm4D = 0x4400000e , _NAMESPACE_::IKP_TranslationYAxisAngleXNorm4D = 0x4400000f ,   _NAMESPACE_::IKP_TranslationZAxisAngleYNorm4D = 0x44000010 , _NAMESPACE_::IKP_NumberOfParameterizations = 16 , _NAMESPACE_::IKP_VelocityDataBit , _NAMESPACE_::IKP_Transform6DVelocity = IKP_Transform6D | IKP_VelocityDataBit ,   _NAMESPACE_::IKP_Rotation3DVelocity = IKP_Rotation3D | IKP_VelocityDataBit , _NAMESPACE_::IKP_Translation3DVelocity = IKP_Translation3D | IKP_VelocityDataBit , _NAMESPACE_::IKP_Direction3DVelocity = IKP_Direction3D | IKP_VelocityDataBit , _NAMESPACE_::IKP_Ray4DVelocity = IKP_Ray4D | IKP_VelocityDataBit ,   _NAMESPACE_::IKP_Lookat3DVelocity = IKP_Lookat3D | IKP_VelocityDataBit , _NAMESPACE_::IKP_TranslationDirection5DVelocity = IKP_TranslationDirection5D | IKP_VelocityDataBit , _NAMESPACE_::IKP_TranslationXY2DVelocity = IKP_TranslationXY2D | IKP_VelocityDataBit , _NAMESPACE_::IKP_TranslationXYOrientation3DVelocity = IKP_TranslationXYOrientation3D | IKP_VelocityDataBit ,   _NAMESPACE_::IKP_TranslationLocalGlobal6DVelocity = IKP_TranslationLocalGlobal6D | IKP_VelocityDataBit , _NAMESPACE_::IKP_TranslationXAxisAngle4DVelocity = IKP_TranslationXAxisAngle4D | IKP_VelocityDataBit , _NAMESPACE_::IKP_TranslationYAxisAngle4DVelocity = IKP_TranslationYAxisAngle4D | IKP_VelocityDataBit , _NAMESPACE_::IKP_TranslationZAxisAngle4DVelocity = IKP_TranslationZAxisAngle4D | IKP_VelocityDataBit ,   _NAMESPACE_::IKP_TranslationXAxisAngleZNorm4DVelocity = IKP_TranslationXAxisAngleZNorm4D | IKP_VelocityDataBit , _NAMESPACE_::IKP_TranslationYAxisAngleXNorm4DVelocity = IKP_TranslationYAxisAngleXNorm4D | IKP_VelocityDataBit , _NAMESPACE_::IKP_TranslationZAxisAngleYNorm4DVelocity = IKP_TranslationZAxisAngleYNorm4D | IKP_VelocityDataBit , _NAMESPACE_::IKP_UniqueIdMask = 0x0000ffff ,   _NAMESPACE_::IKP_CustomDataBit = 0x00010000 }
	The types of inverse kinematics parameterizations supported. More...

Functions
	PLUGINLIB_EXPORT_CLASS (_NAMESPACE_::IKFastKinematicsPlugin, kinematics::KinematicsBase)

Variables
const double	LIMIT_TOLERANCE = .0000001

Macro Definition Documentation

IKFAST_NO_MAIN

#define IKFAST_NO_MAIN

Definition at line 64 of file ikfast61_moveit_plugin_template.cpp.

Enumeration Type Documentation

SEARCH_MODE

enum SEARCH_MODE

Search modes for searchPositionIK(), see there.

Enumerator
OPTIMIZE_FREE_JOINT
OPTIMIZE_MAX_JOINT
OPTIMIZE_FREE_JOINT
OPTIMIZE_MAX_JOINT

Definition at line 56 of file ikfast61_moveit_plugin_template.cpp.

Function Documentation

PLUGINLIB_EXPORT_CLASS()

PLUGINLIB_EXPORT_CLASS	(	_NAMESPACE_::IKFastKinematicsPlugin	,
		kinematics::KinematicsBase
	)

Variable Documentation

LIMIT_TOLERANCE

const double LIMIT_TOLERANCE = .0000001

Definition at line 54 of file ikfast61_moveit_plugin_template.cpp.