moveit2
The MoveIt Motion Planning Framework for ROS 2.
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moveit::core::JointModelGroup::KinematicsSolver Struct Reference

#include <joint_model_group.h>

Public Member Functions

 KinematicsSolver ()
 
 operator bool () const
 Return a flag indicating whether the state of the solver is initialized. More...
 
void reset ()
 

Public Attributes

SolverAllocatorFn allocator_
 Function type that allocates a kinematics solver for a particular group. More...
 
std::vector< size_t > bijection_
 The mapping between the order of the joints in the group and the order of the joints in the kinematics solver. An element bijection[i] at index i in this array, maps the variable at index bijection[i] in this group to the variable at index i in the kinematic solver. More...
 
kinematics::KinematicsBasePtr solver_instance_
 
double default_ik_timeout_
 

Detailed Description

Definition at line 72 of file joint_model_group.h.

Constructor & Destructor Documentation

◆ KinematicsSolver()

moveit::core::JointModelGroup::KinematicsSolver::KinematicsSolver ( )
inline

Definition at line 74 of file joint_model_group.h.

Member Function Documentation

◆ operator bool()

moveit::core::JointModelGroup::KinematicsSolver::operator bool ( ) const
inline

Return a flag indicating whether the state of the solver is initialized.

Definition at line 79 of file joint_model_group.h.

◆ reset()

void moveit::core::JointModelGroup::KinematicsSolver::reset ( )
inline

Definition at line 84 of file joint_model_group.h.

Member Data Documentation

◆ allocator_

SolverAllocatorFn moveit::core::JointModelGroup::KinematicsSolver::allocator_

Function type that allocates a kinematics solver for a particular group.

Definition at line 91 of file joint_model_group.h.

◆ bijection_

std::vector<size_t> moveit::core::JointModelGroup::KinematicsSolver::bijection_

The mapping between the order of the joints in the group and the order of the joints in the kinematics solver. An element bijection[i] at index i in this array, maps the variable at index bijection[i] in this group to the variable at index i in the kinematic solver.

Definition at line 98 of file joint_model_group.h.

◆ default_ik_timeout_

double moveit::core::JointModelGroup::KinematicsSolver::default_ik_timeout_

Definition at line 102 of file joint_model_group.h.

◆ solver_instance_

kinematics::KinematicsBasePtr moveit::core::JointModelGroup::KinematicsSolver::solver_instance_

Definition at line 100 of file joint_model_group.h.


The documentation for this struct was generated from the following file: