kinematics_plugin_loader::KinematicsPluginLoader Class Reference

Helper class for loading kinematics solvers. More...

#include <kinematics_plugin_loader.h>

Classes
class	KinematicsLoaderImpl

Public Member Functions
	KinematicsPluginLoader (const rclcpp::Node::SharedPtr &node, const std::string &robot_description="robot_description")
	Load the kinematics solvers based on information on the ROS parameter server. Take node as an argument and as optional argument the name of the ROS parameter under which the robot description can be found. This is passed to the kinematics solver initialization as well as used to read the SRDF document when needed.
moveit::core::SolverAllocatorFn	getLoaderFunction (const srdf::ModelSharedPtr &srdf_model)
	Get a function pointer that allocates and initializes a kinematics solver. If not previously called, this function reads ROS parameters for the groups defined in the SRDF.
const std::vector< std::string > &	getKnownGroups () const
	Get the groups for which the function pointer returned by getLoaderFunction() can allocate a solver.
const std::map< std::string, double > &	getIKTimeout () const
	Get a map from group name to default IK timeout.
void	status () const

Detailed Description

Helper class for loading kinematics solvers.

Definition at line 50 of file kinematics_plugin_loader.h.

Constructor & Destructor Documentation

KinematicsPluginLoader()

kinematics_plugin_loader::KinematicsPluginLoader::KinematicsPluginLoader ( const rclcpp::Node::SharedPtr &  node, const std::string &  robot_description = "robot_description"  )

inline

Load the kinematics solvers based on information on the ROS parameter server. Take node as an argument and as optional argument the name of the ROS parameter under which the robot description can be found. This is passed to the kinematics solver initialization as well as used to read the SRDF document when needed.

Definition at line 58 of file kinematics_plugin_loader.h.

Member Function Documentation

getIKTimeout()

const std::map< std::string, double > & kinematics_plugin_loader::KinematicsPluginLoader::getIKTimeout ( ) const

inline

Get a map from group name to default IK timeout.

Definition at line 77 of file kinematics_plugin_loader.h.

getKnownGroups()

const std::vector< std::string > & kinematics_plugin_loader::KinematicsPluginLoader::getKnownGroups ( ) const

inline

Get the groups for which the function pointer returned by getLoaderFunction() can allocate a solver.

Definition at line 71 of file kinematics_plugin_loader.h.

getLoaderFunction()

moveit::core::SolverAllocatorFn kinematics_plugin_loader::KinematicsPluginLoader::getLoaderFunction

(

const srdf::ModelSharedPtr &

srdf_model

)

Get a function pointer that allocates and initializes a kinematics solver. If not previously called, this function reads ROS parameters for the groups defined in the SRDF.

Definition at line 241 of file kinematics_plugin_loader.cpp.

status()

void kinematics_plugin_loader::KinematicsPluginLoader::status

(

)

const

Definition at line 229 of file kinematics_plugin_loader.cpp.

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

• moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.h
• moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp