kinematics_base.h File Reference

#include <geometry_msgs/msg/pose.hpp>
#include <moveit_msgs/msg/move_it_error_codes.hpp>
#include <moveit/macros/class_forward.h>
#include <rclcpp/logging.hpp>
#include <rclcpp/node.hpp>
#include <string>
#include <functional>
#include <moveit_kinematics_base_export.h>

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Classes
struct	kinematics::KinematicsQueryOptions
	A set of options for the kinematics solver. More...
struct	kinematics::KinematicsResult
class	kinematics::KinematicsBase
	Provides an interface for kinematics solvers. More...

Namespaces
	moveit
	Main namespace for MoveIt.
	moveit::core
	Core components of MoveIt.
	kinematics
	API for forward and inverse kinematics.
	kinematics::DiscretizationMethods
	kinematics::KinematicErrors

Typedefs
using	kinematics::DiscretizationMethod = DiscretizationMethods::DiscretizationMethod
using	kinematics::KinematicError = KinematicErrors::KinematicError

Enumerations
enum	kinematics::DiscretizationMethods::DiscretizationMethod {   kinematics::DiscretizationMethods::NO_DISCRETIZATION = 1 , kinematics::DiscretizationMethods::ALL_DISCRETIZED , kinematics::DiscretizationMethods::SOME_DISCRETIZED , kinematics::DiscretizationMethods::ALL_RANDOM_SAMPLED ,   kinematics::DiscretizationMethods::SOME_RANDOM_SAMPLED }
enum	kinematics::KinematicErrors::KinematicError {   kinematics::KinematicErrors::OK = 1 , kinematics::KinematicErrors::UNSUPORTED_DISCRETIZATION_REQUESTED , kinematics::KinematicErrors::DISCRETIZATION_NOT_INITIALIZED , kinematics::KinematicErrors::MULTIPLE_TIPS_NOT_SUPPORTED ,   kinematics::KinematicErrors::EMPTY_TIP_POSES , kinematics::KinematicErrors::IK_SEED_OUTSIDE_LIMITS , kinematics::KinematicErrors::SOLVER_NOT_ACTIVE , kinematics::KinematicErrors::NO_SOLUTION }

Functions
	moveit::core::MOVEIT_CLASS_FORWARD (JointModelGroup)
	moveit::core::MOVEIT_CLASS_FORWARD (RobotState)
	moveit::core::MOVEIT_CLASS_FORWARD (RobotModel)
	kinematics::MOVEIT_CLASS_FORWARD (KinematicsBase)