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The MoveIt Motion Planning Framework for ROS 2.
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Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
cached_ik_kinematics_plugin::IKCacheMap Class Reference

#include <cached_ik_kinematics_plugin.h>

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Public Types

using IKEntry = IKCache::IKEntry
 
using Pose = IKCache::Pose
 

Public Member Functions

 IKCacheMap (const std::string &robot_description, const std::string &group_name, unsigned int num_joints)
 
 ~IKCacheMap ()
 
const IKEntrygetBestApproximateIKSolution (const std::vector< std::string > &fixed, const std::vector< std::string > &active, const std::vector< Pose > &poses) const
 
void updateCache (const IKEntry &nearest, const std::vector< std::string > &fixed, const std::vector< std::string > &active, const std::vector< Pose > &poses, const std::vector< double > &config)
 

Protected Member Functions

std::string getKey (const std::vector< std::string > &fixed, const std::vector< std::string > &active) const
 

Protected Attributes

std::string robot_description_
 
std::string group_name_
 
unsigned int num_joints_
 

Detailed Description

a container of IK caches for cases where there is no fixed base frame

Definition at line 152 of file cached_ik_kinematics_plugin.h.

Member Typedef Documentation

◆ IKEntry

Definition at line 155 of file cached_ik_kinematics_plugin.h.

◆ Pose

Definition at line 156 of file cached_ik_kinematics_plugin.h.

Constructor & Destructor Documentation

◆ IKCacheMap()

cached_ik_kinematics_plugin::IKCacheMap::IKCacheMap ( const std::string &  robot_description,
const std::string &  group_name,
unsigned int  num_joints 
)

Definition at line 295 of file ik_cache.cpp.

◆ ~IKCacheMap()

cached_ik_kinematics_plugin::IKCacheMap::~IKCacheMap ( )

Definition at line 300 of file ik_cache.cpp.

Member Function Documentation

◆ getBestApproximateIKSolution()

const IKCache::IKEntry & cached_ik_kinematics_plugin::IKCacheMap::getBestApproximateIKSolution ( const std::vector< std::string > &  fixed,
const std::vector< std::string > &  active,
const std::vector< Pose > &  poses 
) const

get the entry from the IK cache that best matches a given vector of poses, with a specified set of fixed and active tip links

Definition at line 306 of file ik_cache.cpp.

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◆ getKey()

std::string cached_ik_kinematics_plugin::IKCacheMap::getKey ( const std::vector< std::string > &  fixed,
const std::vector< std::string > &  active 
) const
protected

Definition at line 342 of file ik_cache.cpp.

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◆ updateCache()

void cached_ik_kinematics_plugin::IKCacheMap::updateCache ( const IKEntry nearest,
const std::vector< std::string > &  fixed,
const std::vector< std::string > &  active,
const std::vector< Pose > &  poses,
const std::vector< double > &  config 
)

insert (pose,config) as an entry if it's different enough from the most similar cache entry

Definition at line 323 of file ik_cache.cpp.

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Member Data Documentation

◆ group_name_

std::string cached_ik_kinematics_plugin::IKCacheMap::group_name_
protected

Definition at line 178 of file cached_ik_kinematics_plugin.h.

◆ num_joints_

unsigned int cached_ik_kinematics_plugin::IKCacheMap::num_joints_
protected

Definition at line 179 of file cached_ik_kinematics_plugin.h.

◆ robot_description_

std::string cached_ik_kinematics_plugin::IKCacheMap::robot_description_
protected

Definition at line 177 of file cached_ik_kinematics_plugin.h.


The documentation for this class was generated from the following files: