Provides an interface for kinematics solvers. More...

#include <kinematics_base.h>

Inheritance diagram for kinematics::KinematicsBase:

[legend]

Public Types
using	IKCallbackFn = std::function< void(const geometry_msgs::msg::Pose &, const std::vector< double > &, moveit_msgs::msg::MoveItErrorCodes &)>
	Signature for a callback to validate an IK solution. Typically used for collision checking.

using	IKCostFn = std::function< double(const geometry_msgs::msg::Pose &, const moveit::core::RobotState &, const moveit::core::JointModelGroup *, const std::vector< double > &)>
	Signature for a cost function used to evaluate IK solutions.

Public Member Functions
virtual 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 kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const =0
	Given a desired pose of the end-effector, compute the joint angles to reach it.

virtual bool	getPositionIK (const std::vector< geometry_msgs::msg::Pose > &ik_poses, const std::vector< double > &ik_seed_state, std::vector< std::vector< double > > &solutions, KinematicsResult &result, const kinematics::KinematicsQueryOptions &options) const
	Given the desired poses of all end-effectors, compute joint angles that are able to reach it.

virtual 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 kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const =0
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solution by stepping through the redundancy (or other numerical routines).

virtual 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 kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const =0
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solution by stepping through the redundancy (or other numerical routines).

virtual 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 kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const =0
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solution by stepping through the redundancy (or other numerical routines).

virtual 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 kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const =0
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solution by stepping through the redundancy (or other numerical routines).

virtual bool	searchPositionIK (const std::vector< geometry_msgs::msg::Pose > &ik_poses, 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 kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions(), const moveit::core::RobotState *context_state=nullptr) const
	Given a set of desired poses for a planning group with multiple end-effectors, search for the joint angles required to reach them. This is useful for e.g. biped robots that need to perform whole-body IK. Not necessary for most robots that have kinematic chains. This particular method is intended for "searching" for a solution by stepping through the redundancy (or other numerical routines).

virtual bool	searchPositionIK (const std::vector< geometry_msgs::msg::Pose > &ik_poses, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, const IKCallbackFn &solution_callback, const IKCostFn &cost_function, moveit_msgs::msg::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions(), const moveit::core::RobotState *context_state=nullptr) const
	Given a set of desired poses for a planning group with multiple end-effectors, search for the joint angles required to reach them. This is useful for e.g. biped robots that need to perform whole-body IK. Not necessary for most robots that have kinematic chains. This particular method is intended for "searching" for a solution by stepping through the redundancy (or other numerical routines).

virtual bool	getPositionFK (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::msg::Pose > &poses) const =0
	Given a set of joint angles and a set of links, compute their pose.

virtual void	setValues (const std::string &robot_description, const std::string &group_name, const std::string &base_frame, const std::vector< std::string > &tip_frames, double search_discretization)
	Set the parameters for the solver, for use with non-chain IK solvers.

virtual 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)
	Initialization function for the kinematics, for use with kinematic chain IK solvers.

virtual const std::string &	getGroupName () const
	Return the name of the group that the solver is operating on.

virtual const std::string &	getBaseFrame () const
	Return the name of the frame in which the solver is operating. This is usually a link name. No namespacing (e.g., no "/" prefix) should be used.

virtual const std::string &	getTipFrame () const
	Return the name of the tip frame of the chain on which the solver is operating. This is usually a link name. No namespacing (e.g., no "/" prefix) should be used.

virtual const std::vector< std::string > &	getTipFrames () const
	Return the names of the tip frames of the kinematic tree on which the solver is operating. This is usually a link name. No namespacing (e.g., no "/" prefix) should be used.

virtual bool	setRedundantJoints (const std::vector< unsigned int > &redundant_joint_indices)
	Set a set of redundant joints for the kinematics solver to use. This can fail, depending on the IK solver and choice of redundant joints!. Also, it sets the discretization values for each redundant joint to a default value.

bool	setRedundantJoints (const std::vector< std::string > &redundant_joint_names)
	Set a set of redundant joints for the kinematics solver to use. This function is just a convenience function that calls the previous definition of setRedundantJoints()

virtual void	getRedundantJoints (std::vector< unsigned int > &redundant_joint_indices) const
	Get the set of redundant joints.

virtual const std::vector< std::string > &	getJointNames () const =0
	Return all the joint names in the order they are used internally.

virtual const std::vector< std::string > &	getLinkNames () const =0
	Return all the link names in the order they are represented internally.

virtual bool	supportsGroup (const moveit::core::JointModelGroup jmg, std::string error_text_out=nullptr) const
	Check if this solver supports a given JointModelGroup.

void	setSearchDiscretization (double sd)
	Set the search discretization value for all the redundant joints.

void	setSearchDiscretization (const std::map< int, double > &discretization)
	Sets individual discretization values for each redundant joint.

double	getSearchDiscretization (int joint_index=0) const
	Get the value of the search discretization.

std::vector< DiscretizationMethod >	getSupportedDiscretizationMethods () const
	Returns the set of supported kinematics discretization search types. This implementation only supports the DiscretizationMethods::ONE search.

void	setDefaultTimeout (double timeout)
	For functions that require a timeout specified but one is not specified using arguments, a default timeout is used, as set by this function (and initialized to KinematicsBase::DEFAULT_TIMEOUT)

double	getDefaultTimeout () const
	For functions that require a timeout specified but one is not specified using arguments, this default timeout is used.

virtual	~KinematicsBase ()
	Virtual destructor for the interface.

	KinematicsBase ()

Static Public Attributes
static const double	DEFAULT_SEARCH_DISCRETIZATION = 0.1

static const double	DEFAULT_TIMEOUT = 1.0

Protected Member Functions
void	storeValues (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)

Protected Attributes
rclcpp::Node::SharedPtr	node_

moveit::core::RobotModelConstPtr	robot_model_

std::string	robot_description_

std::string	group_name_

std::string	base_frame_

std::vector< std::string >	tip_frames_

double	default_timeout_

std::vector< unsigned int >	redundant_joint_indices_

std::map< int, double >	redundant_joint_discretization_

std::vector< DiscretizationMethod >	supported_methods_

Detailed Description

Provides an interface for kinematics solvers.

Definition at line 147 of file kinematics_base.h.

Member Typedef Documentation

◆ IKCallbackFn

using kinematics::KinematicsBase::IKCallbackFn = std::function<void(const geometry_msgs::msg::Pose&, const std::vector<double>&, moveit_msgs::msg::MoveItErrorCodes&)>

Signature for a callback to validate an IK solution. Typically used for collision checking.

Definition at line 154 of file kinematics_base.h.

◆ IKCostFn

using kinematics::KinematicsBase::IKCostFn = std::function<double(const geometry_msgs::msg::Pose&, const moveit::core::RobotState&, const moveit::core::JointModelGroup*, const std::vector<double>&)>

Signature for a cost function used to evaluate IK solutions.

Definition at line 158 of file kinematics_base.h.

Constructor & Destructor Documentation

◆ ~KinematicsBase()

kinematics::KinematicsBase::~KinematicsBase ( )

virtualdefault

Virtual destructor for the interface.

◆ KinematicsBase()

kinematics::KinematicsBase::KinematicsBase ( )

Definition at line 157 of file kinematics_base.cpp.

Member Function Documentation

◆ getBaseFrame()

virtual const std::string & kinematics::KinematicsBase::getBaseFrame ( ) const

inlinevirtual

Return the name of the frame in which the solver is operating. This is usually a link name. No namespacing (e.g., no "/" prefix) should be used.

Returns: The string name of the frame in which the solver is operating

Definition at line 426 of file kinematics_base.h.

◆ getDefaultTimeout()

double kinematics::KinematicsBase::getDefaultTimeout ( ) const

inline

For functions that require a timeout specified but one is not specified using arguments, this default timeout is used.

Definition at line 573 of file kinematics_base.h.

◆ getGroupName()

virtual const std::string & kinematics::KinematicsBase::getGroupName ( ) const

inlinevirtual

Return the name of the group that the solver is operating on.

Returns: The string name of the group that the solver is operating on

Definition at line 416 of file kinematics_base.h.

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◆ getJointNames()

virtual const std::vector< std::string > & kinematics::KinematicsBase::getJointNames ( ) const

pure virtual

Return all the joint names in the order they are used internally.

Implemented in pr2_arm_kinematics::PR2ArmKinematicsPlugin, kdl_kinematics_plugin::KDLKinematicsPlugin, and srv_kinematics_plugin::SrvKinematicsPlugin.

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◆ getLinkNames()

virtual const std::vector< std::string > & kinematics::KinematicsBase::getLinkNames ( ) const

pure virtual

Return all the link names in the order they are represented internally.

Implemented in pr2_arm_kinematics::PR2ArmKinematicsPlugin, kdl_kinematics_plugin::KDLKinematicsPlugin, and srv_kinematics_plugin::SrvKinematicsPlugin.

◆ getPositionFK()

virtual bool kinematics::KinematicsBase::getPositionFK	(	const std::vector< std::string > &	link_names,
		const std::vector< double > &	joint_angles,
		std::vector< geometry_msgs::msg::Pose > &	poses
	)		const

pure virtual

Given a set of joint angles and a set of links, compute their pose.

Parameters

link_names	A set of links for which FK needs to be computed
joint_angles	The state for which FK is being computed
poses	The resultant set of poses (in the frame returned by getBaseFrame())

Returns: True if a valid solution was found, false otherwise

Implemented in pr2_arm_kinematics::PR2ArmKinematicsPlugin, _NAMESPACE_::IKFastKinematicsPlugin, kdl_kinematics_plugin::KDLKinematicsPlugin, srv_kinematics_plugin::SrvKinematicsPlugin, and prbt_manipulator::IKFastKinematicsPlugin.

◆ getPositionIK() [1/2]

virtual bool kinematics::KinematicsBase::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 kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const

pure virtual

Given a desired pose of the end-effector, compute the joint angles to reach it.

In contrast to the searchPositionIK methods, this one is expected to return the solution closest to the seed state. Randomly re-seeding is explicitly not allowed.

Parameters

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics
solution	the solution vector
error_code	an error code that encodes the reason for failure or success
options	container for other IK options. See definition of KinematicsQueryOptions for details.

Returns: True if a valid solution was found, false otherwise

Implemented in pr2_arm_kinematics::PR2ArmKinematicsPlugin, _NAMESPACE_::IKFastKinematicsPlugin, kdl_kinematics_plugin::KDLKinematicsPlugin, srv_kinematics_plugin::SrvKinematicsPlugin, and prbt_manipulator::IKFastKinematicsPlugin.

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◆ getPositionIK() [2/2]

bool kinematics::KinematicsBase::getPositionIK	(	const std::vector< geometry_msgs::msg::Pose > &	ik_poses,
		const std::vector< double > &	ik_seed_state,
		std::vector< std::vector< double > > &	solutions,
		KinematicsResult &	result,
		const kinematics::KinematicsQueryOptions &	options
	)		const

virtual

Given the desired poses of all end-effectors, compute joint angles that are able to reach it.

The default implementation returns only one solution and so its result is equivalent to calling 'getPositionIK(...)' with a zero initialized seed.

Some planners (e.g. IKFast) support getting multiple joint solutions for a single pose. This can be enabled using the |DiscretizationMethods| enum and choosing an option that is not |NO_DISCRETIZATION|.

Parameters

ik_poses	The desired pose of each tip link
ik_seed_state	an initial guess solution for the inverse kinematics
solutions	A vector of valid joint vectors. This return has two variant behaviors: 1) Return a joint solution for every input \|ik_poses\|, e.g. multi-arm support 2) Return multiple joint solutions for a single \|ik_poses\| input, e.g. underconstrained IK TODO(dave): This dual behavior is confusing and should be changed in a future refactor of this API
result	A struct that reports the results of the query
options	An option struct which contains the type of redundancy discretization used. This default implementation only supports the KinematicSearches::NO_DISCRETIZATION method; requesting any other will result in failure.

Returns: True if a valid set of solutions was found, false otherwise.

Reimplemented in _NAMESPACE_::IKFastKinematicsPlugin, and prbt_manipulator::IKFastKinematicsPlugin.

Definition at line 164 of file kinematics_base.cpp.

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◆ getRedundantJoints()

virtual void kinematics::KinematicsBase::getRedundantJoints ( std::vector< unsigned int > & redundant_joint_indices ) const

inlinevirtual

Get the set of redundant joints.

Definition at line 479 of file kinematics_base.h.

◆ getSearchDiscretization()

double kinematics::KinematicsBase::getSearchDiscretization ( int joint_index = 0 ) const

inline

Get the value of the search discretization.

Definition at line 543 of file kinematics_base.h.

◆ getSupportedDiscretizationMethods()

std::vector< DiscretizationMethod > kinematics::KinematicsBase::getSupportedDiscretizationMethods ( ) const

inline

Returns the set of supported kinematics discretization search types. This implementation only supports the DiscretizationMethods::ONE search.

Definition at line 559 of file kinematics_base.h.

◆ getTipFrame()

virtual const std::string & kinematics::KinematicsBase::getTipFrame ( ) const

inlinevirtual

Return the name of the tip frame of the chain on which the solver is operating. This is usually a link name. No namespacing (e.g., no "/" prefix) should be used.

Returns: The string name of the tip frame of the chain on which the solver is operating

Definition at line 436 of file kinematics_base.h.

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◆ getTipFrames()

virtual const std::vector< std::string > & kinematics::KinematicsBase::getTipFrames ( ) const

inlinevirtual

Return the names of the tip frames of the kinematic tree on which the solver is operating. This is usually a link name. No namespacing (e.g., no "/" prefix) should be used.

Returns: The vector of names of the tip frames of the kinematic tree on which the solver is operating

Definition at line 453 of file kinematics_base.h.

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◆ initialize()

bool kinematics::KinematicsBase::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
	)

virtual

Initialization function for the kinematics, for use with kinematic chain IK solvers.

Parameters

robot_model	- allow the URDF to be loaded much quicker by passing in a pre-parsed model of the robot
group_name	The group for which this solver is being configured
base_frame	The base frame in which all input poses are expected. This may (or may not) be the root frame of the chain that the solver operates on
tip_frames	The tip of the chain
search_discretization	The discretization of the search when the solver steps through the redundancy

Returns: true if initialization was successful, false otherwise

Default implementation returns false and issues a warning to implement this new API. TODO: Make this method purely virtual after some soaking time, replacing the fallback.

Reimplemented in pr2_arm_kinematics::PR2ArmKinematicsPlugin, kdl_kinematics_plugin::KDLKinematicsPlugin, and srv_kinematics_plugin::SrvKinematicsPlugin.

Definition at line 91 of file kinematics_base.cpp.

◆ searchPositionIK() [1/6]

virtual bool kinematics::KinematicsBase::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 kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const

pure virtual

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solution by stepping through the redundancy (or other numerical routines).

Parameters

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics
timeout	The amount of time (in seconds) available to the solver
consistency_limits	the distance that any joint in the solution can be from the corresponding joints in the current seed state
solution	the solution vector
solution_callback	A callback to validate an IK solution
error_code	an error code that encodes the reason for failure or success
options	container for other IK options. See definition of KinematicsQueryOptions for details.

Returns: True if a valid solution was found, false otherwise

Implemented in pr2_arm_kinematics::PR2ArmKinematicsPlugin, _NAMESPACE_::IKFastKinematicsPlugin, kdl_kinematics_plugin::KDLKinematicsPlugin, srv_kinematics_plugin::SrvKinematicsPlugin, and prbt_manipulator::IKFastKinematicsPlugin.

◆ searchPositionIK() [2/6]

virtual bool kinematics::KinematicsBase::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 kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const

pure virtual

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solution by stepping through the redundancy (or other numerical routines).

Parameters

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics
timeout	The amount of time (in seconds) available to the solver
consistency_limits	the distance that any joint in the solution can be from the corresponding joints in the current seed state
solution	the solution vector
error_code	an error code that encodes the reason for failure or success
options	container for other IK options. See definition of KinematicsQueryOptions for details.

Returns: True if a valid solution was found, false otherwise

Implemented in pr2_arm_kinematics::PR2ArmKinematicsPlugin, _NAMESPACE_::IKFastKinematicsPlugin, kdl_kinematics_plugin::KDLKinematicsPlugin, srv_kinematics_plugin::SrvKinematicsPlugin, and prbt_manipulator::IKFastKinematicsPlugin.

◆ searchPositionIK() [3/6]

virtual bool kinematics::KinematicsBase::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 kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const

pure virtual

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solution by stepping through the redundancy (or other numerical routines).

Parameters

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics
timeout	The amount of time (in seconds) available to the solver
solution	the solution vector
solution_callback	A callback to validate an IK solution
error_code	an error code that encodes the reason for failure or success
options	container for other IK options. See definition of KinematicsQueryOptions for details.

Returns: True if a valid solution was found, false otherwise

Implemented in pr2_arm_kinematics::PR2ArmKinematicsPlugin, _NAMESPACE_::IKFastKinematicsPlugin, kdl_kinematics_plugin::KDLKinematicsPlugin, srv_kinematics_plugin::SrvKinematicsPlugin, and prbt_manipulator::IKFastKinematicsPlugin.

◆ searchPositionIK() [4/6]

virtual bool kinematics::KinematicsBase::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 kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const

pure virtual

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solution by stepping through the redundancy (or other numerical routines).

Parameters

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics
timeout	The amount of time (in seconds) available to the solver
solution	the solution vector
error_code	an error code that encodes the reason for failure or success
options	container for other IK options. See definition of KinematicsQueryOptions for details.

Returns: True if a valid solution was found, false otherwise

Implemented in pr2_arm_kinematics::PR2ArmKinematicsPlugin, _NAMESPACE_::IKFastKinematicsPlugin, kdl_kinematics_plugin::KDLKinematicsPlugin, srv_kinematics_plugin::SrvKinematicsPlugin, and prbt_manipulator::IKFastKinematicsPlugin.

◆ searchPositionIK() [5/6]

virtual bool kinematics::KinematicsBase::searchPositionIK	(	const std::vector< geometry_msgs::msg::Pose > &	ik_poses,
		const std::vector< double > &	ik_seed_state,
		double	timeout,
		const std::vector< double > &	consistency_limits,
		std::vector< double > &	solution,
		const IKCallbackFn &	solution_callback,
		const IKCostFn &	cost_function,
		moveit_msgs::msg::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`,
		const moveit::core::RobotState *	context_state = `nullptr`
	)		const

inlinevirtual

Given a set of desired poses for a planning group with multiple end-effectors, search for the joint angles required to reach them. This is useful for e.g. biped robots that need to perform whole-body IK. Not necessary for most robots that have kinematic chains. This particular method is intended for "searching" for a solution by stepping through the redundancy (or other numerical routines).

Parameters

ik_poses	the desired pose of each tip link, in the same order as the getTipFrames() vector
ik_seed_state	an initial guess solution for the inverse kinematics
timeout	The amount of time (in seconds) available to the solver
consistency_limits	the distance that any joint in the solution can be from the corresponding joints in the current seed state
solution	the solution vector
solution_callback	A callback to validate an IK solution
cost_function	A function to evaluate the cost of a particular IK solution
error_code	an error code that encodes the reason for failure or success
options	container for other IK options. See definition of KinematicsQueryOptions for details.
context_state	(optional) the context in which this request is being made. The position values corresponding to joints in the current group may not match those in ik_seed_state. The values in ik_seed_state are the ones to use. The state is passed to provide the other joint values, in case they are needed for context, like with an IK solver that computes a balanced result for a biped.

Returns: True if a valid solution was found, false otherwise

Definition at line 353 of file kinematics_base.h.

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◆ searchPositionIK() [6/6]

virtual bool kinematics::KinematicsBase::searchPositionIK	(	const std::vector< geometry_msgs::msg::Pose > &	ik_poses,
		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 kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`,
		const moveit::core::RobotState *	context_state = `nullptr`
	)		const

inlinevirtual

Given a set of desired poses for a planning group with multiple end-effectors, search for the joint angles required to reach them. This is useful for e.g. biped robots that need to perform whole-body IK. Not necessary for most robots that have kinematic chains. This particular method is intended for "searching" for a solution by stepping through the redundancy (or other numerical routines).

Parameters

ik_poses	the desired pose of each tip link, in the same order as the getTipFrames() vector
ik_seed_state	an initial guess solution for the inverse kinematics
timeout	The amount of time (in seconds) available to the solver
consistency_limits	the distance that any joint in the solution can be from the corresponding joints in the current seed state
solution	the solution vector
solution_callback	A callback to validate an IK solution
error_code	an error code that encodes the reason for failure or success
options	container for other IK options. See definition of KinematicsQueryOptions for details.
context_state	(optional) the context in which this request is being made. The position values corresponding to joints in the current group may not match those in ik_seed_state. The values in ik_seed_state are the ones to use. The state is passed to provide the other joint values, in case they are needed for context, like with an IK solver that computes a balanced result for a biped.

Returns: True if a valid solution was found, false otherwise

Reimplemented in srv_kinematics_plugin::SrvKinematicsPlugin.

Definition at line 302 of file kinematics_base.h.

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◆ setDefaultTimeout()

void kinematics::KinematicsBase::setDefaultTimeout ( double timeout )

inline

For functions that require a timeout specified but one is not specified using arguments, a default timeout is used, as set by this function (and initialized to KinematicsBase::DEFAULT_TIMEOUT)

Definition at line 566 of file kinematics_base.h.

◆ setRedundantJoints() [1/2]

bool kinematics::KinematicsBase::setRedundantJoints ( const std::vector< std::string > & redundant_joint_names )

Set a set of redundant joints for the kinematics solver to use. This function is just a convenience function that calls the previous definition of setRedundantJoints()

Parameters

redundant_joint_names The set of redundant joint names.

Returns: False if any of the input joint indices are invalid (exceed number of joints)

Definition at line 118 of file kinematics_base.cpp.

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◆ setRedundantJoints() [2/2]

bool kinematics::KinematicsBase::setRedundantJoints ( const std::vector< unsigned int > & redundant_joint_indices )

virtual

Set a set of redundant joints for the kinematics solver to use. This can fail, depending on the IK solver and choice of redundant joints!. Also, it sets the discretization values for each redundant joint to a default value.

Parameters

redundant_joint_indices The set of redundant joint indices (corresponding to the list of joints you get from getJointNames()).

Returns: False if any of the input joint indices are invalid (exceed number of joints)

Reimplemented in _NAMESPACE_::IKFastKinematicsPlugin, srv_kinematics_plugin::SrvKinematicsPlugin, and prbt_manipulator::IKFastKinematicsPlugin.

Definition at line 103 of file kinematics_base.cpp.

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◆ setSearchDiscretization() [1/2]

void kinematics::KinematicsBase::setSearchDiscretization ( const std::map< int, double > & discretization )

inline

Sets individual discretization values for each redundant joint.

Calling this method replaces previous discretization settings.

Parameters

discretization a map of joint indices and discretization value pairs.

Definition at line 529 of file kinematics_base.h.

◆ setSearchDiscretization() [2/2]

void kinematics::KinematicsBase::setSearchDiscretization ( double sd )

inline

Set the search discretization value for all the redundant joints.

Definition at line 515 of file kinematics_base.h.

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◆ setValues()

void kinematics::KinematicsBase::setValues	(	const std::string &	robot_description,
		const std::string &	group_name,
		const std::string &	base_frame,
		const std::vector< std::string > &	tip_frames,
		double	search_discretization
	)

virtual

Set the parameters for the solver, for use with non-chain IK solvers.

Parameters

robot_description	This parameter can be used as an identifier for the robot kinematics it is computed for; For example, the name of the ROS parameter that contains the robot description;
group_name	The group for which this solver is being configured
base_frame	The base frame in which all input poses are expected. This may (or may not) be the root frame of the chain that the solver operates on
tip_frames	A vector of tips of the kinematic tree
search_discretization	The discretization of the search when the solver steps through the redundancy

Definition at line 77 of file kinematics_base.cpp.

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◆ storeValues()

void kinematics::KinematicsBase::storeValues	(	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
	)

protected

Store some core variables passed via initialize().

Parameters

robot_model	RobotModel, this kinematics solver should act on.
group_name	The group for which this solver is being configured.
base_frame	The base frame in which all input poses are expected.
tip_frames	The tips of the kinematics tree.
search_discretization	The discretization of the search when the solver steps through the redundancy

Definition at line 59 of file kinematics_base.cpp.

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◆ supportsGroup()

bool kinematics::KinematicsBase::supportsGroup	(	const moveit::core::JointModelGroup *	jmg,
		std::string *	error_text_out = `nullptr`
	)		const

virtual

Check if this solver supports a given JointModelGroup.

Override this function to check if your kinematics solver implementation supports the given group.

The default implementation just returns jmg->isChain(), since solvers written before this function was added all supported only chain groups.

Parameters

jmg	the planning group being proposed to be solved by this IK solver
error_text_out	If this pointer is non-null and the group is not supported, this is filled with a description of why it's not supported.

Returns: True if the group is supported, false if not.

Definition at line 142 of file kinematics_base.cpp.

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Member Data Documentation

◆ base_frame_

std::string kinematics::KinematicsBase::base_frame_

protected

Definition at line 590 of file kinematics_base.h.

◆ DEFAULT_SEARCH_DISCRETIZATION

const double kinematics::KinematicsBase::DEFAULT_SEARCH_DISCRETIZATION = 0.1

static

Definition at line 150 of file kinematics_base.h.

◆ DEFAULT_TIMEOUT

const double kinematics::KinematicsBase::DEFAULT_TIMEOUT = 1.0

static

Definition at line 151 of file kinematics_base.h.

◆ default_timeout_

double kinematics::KinematicsBase::default_timeout_

protected

Definition at line 593 of file kinematics_base.h.

◆ group_name_

std::string kinematics::KinematicsBase::group_name_

protected

Definition at line 589 of file kinematics_base.h.

◆ node_

rclcpp::Node::SharedPtr kinematics::KinematicsBase::node_

protected

Definition at line 586 of file kinematics_base.h.

◆ redundant_joint_discretization_

std::map<int, double> kinematics::KinematicsBase::redundant_joint_discretization_

protected

Definition at line 595 of file kinematics_base.h.

◆ redundant_joint_indices_

std::vector<unsigned int> kinematics::KinematicsBase::redundant_joint_indices_

protected

Definition at line 594 of file kinematics_base.h.

◆ robot_description_

std::string kinematics::KinematicsBase::robot_description_

protected

Definition at line 588 of file kinematics_base.h.

◆ robot_model_

moveit::core::RobotModelConstPtr kinematics::KinematicsBase::robot_model_

protected

Definition at line 587 of file kinematics_base.h.

◆ supported_methods_

std::vector<DiscretizationMethod> kinematics::KinematicsBase::supported_methods_

protected

Definition at line 596 of file kinematics_base.h.

◆ tip_frames_

std::vector<std::string> kinematics::KinematicsBase::tip_frames_

protected

Definition at line 591 of file kinematics_base.h.

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

moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
moveit_core/kinematics_base/src/kinematics_base.cpp

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ IKCallbackFn

◆ IKCostFn

Constructor & Destructor Documentation

◆ ~KinematicsBase()

◆ KinematicsBase()

Member Function Documentation

◆ getBaseFrame()

◆ getDefaultTimeout()

◆ getGroupName()

◆ getJointNames()

◆ getLinkNames()

◆ getPositionFK()

◆ getPositionIK() [1/2]

◆ getPositionIK() [2/2]

◆ getRedundantJoints()

◆ getSearchDiscretization()

◆ getSupportedDiscretizationMethods()

◆ getTipFrame()

◆ getTipFrames()

◆ initialize()

◆ searchPositionIK() [1/6]

◆ searchPositionIK() [2/6]

◆ searchPositionIK() [3/6]

◆ searchPositionIK() [4/6]

◆ searchPositionIK() [5/6]

◆ searchPositionIK() [6/6]

◆ setDefaultTimeout()

◆ setRedundantJoints() [1/2]

◆ setRedundantJoints() [2/2]

◆ setSearchDiscretization() [1/2]

◆ setSearchDiscretization() [2/2]

◆ setValues()

◆ storeValues()

◆ supportsGroup()

Member Data Documentation

◆ base_frame_

◆ DEFAULT_SEARCH_DISCRETIZATION

◆ DEFAULT_TIMEOUT

◆ default_timeout_

◆ group_name_

◆ node_

◆ redundant_joint_discretization_

◆ redundant_joint_indices_

◆ robot_description_

◆ robot_model_

◆ supported_methods_

◆ tip_frames_