#include <cached_ik_kinematics_plugin.h>
Inheritance diagram for cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >:
Collaboration diagram for cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >:
Public Types | |
| using | Pose = IKCache::Pose |
| using | IKEntry = IKCache::IKEntry |
| using | IKCallbackFn = kinematics::KinematicsBase::IKCallbackFn |
| using | KinematicsQueryOptions = kinematics::KinematicsQueryOptions |
Public Member Functions | |
| CachedIKKinematicsPlugin () | |
| ~CachedIKKinematicsPlugin () override | |
| bool | initialize (const rclcpp::Node::SharedPtr &node, 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) override |
| 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 KinematicsQueryOptions &options=KinematicsQueryOptions()) const override |
| 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 KinematicsQueryOptions &options=KinematicsQueryOptions()) const override |
| 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 KinematicsQueryOptions &options=KinematicsQueryOptions()) const override |
| 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 KinematicsQueryOptions &options=KinematicsQueryOptions()) const override |
| 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 KinematicsQueryOptions &options=KinematicsQueryOptions()) const override |
Detailed Description
template<class KinematicsPlugin>
class cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >
Caching wrapper for kinematics::KinematicsBase-derived IK solvers.
Definition at line 213 of file cached_ik_kinematics_plugin.h.
Member Typedef Documentation
◆ IKCallbackFn
template<class KinematicsPlugin >
| using cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >::IKCallbackFn = kinematics::KinematicsBase::IKCallbackFn |
Definition at line 218 of file cached_ik_kinematics_plugin.h.
◆ IKEntry
template<class KinematicsPlugin >
| using cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >::IKEntry = IKCache::IKEntry |
Definition at line 217 of file cached_ik_kinematics_plugin.h.
◆ KinematicsQueryOptions
template<class KinematicsPlugin >
| using cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >::KinematicsQueryOptions = kinematics::KinematicsQueryOptions |
Definition at line 219 of file cached_ik_kinematics_plugin.h.
◆ Pose
template<class KinematicsPlugin >
| using cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >::Pose = IKCache::Pose |
Definition at line 216 of file cached_ik_kinematics_plugin.h.
Constructor & Destructor Documentation
◆ CachedIKKinematicsPlugin()
template<class KinematicsPlugin >
| cached_ik_kinematics_plugin::CachedIKKinematicsPlugin< KinematicsPlugin >::CachedIKKinematicsPlugin |
Definition at line 43 of file cached_ik_kinematics_plugin-inl.h.
◆ ~CachedIKKinematicsPlugin()
template<class KinematicsPlugin >
|
override |
Definition at line 48 of file cached_ik_kinematics_plugin-inl.h.
Member Function Documentation
◆ getPositionIK()
template<class KinematicsPlugin >
|
override |
Definition at line 87 of file cached_ik_kinematics_plugin-inl.h.
◆ initialize()
template<class KinematicsPlugin >
|
inlineoverride |
Definition at line 227 of file cached_ik_kinematics_plugin.h.
◆ searchPositionIK() [1/4]
template<class KinematicsPlugin >
|
override |
Definition at line 172 of file cached_ik_kinematics_plugin-inl.h.
◆ searchPositionIK() [2/4]
template<class KinematicsPlugin >
|
override |
Definition at line 126 of file cached_ik_kinematics_plugin-inl.h.
◆ searchPositionIK() [3/4]
template<class KinematicsPlugin >
|
override |
Definition at line 148 of file cached_ik_kinematics_plugin-inl.h.
◆ searchPositionIK() [4/4]
template<class KinematicsPlugin >
|
override |
Definition at line 103 of file cached_ik_kinematics_plugin-inl.h.
The documentation for this class was generated from the following files:
- moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin.h
- moveit_kinematics/cached_ik_kinematics_plugin/include/moveit/cached_ik_kinematics_plugin/cached_ik_kinematics_plugin-inl.h
