Public Member Functions
	KinematicsLoaderImpl (const rclcpp::Node::SharedPtr &node, const std::string &robot_description, const std::map< std::string, std::string > &possible_kinematics_solvers, const std::map< std::string, double > &search_res, const rclcpp::Logger &logger)
	Pimpl Implementation of KinematicsLoader.

std::vector< std::string >	chooseTipFrames (const moveit::core::JointModelGroup *jmg)
	Helper function to decide which, and how many, tip frames a planning group has.

kinematics::KinematicsBasePtr	allocKinematicsSolver (const moveit::core::JointModelGroup *jmg)

kinematics::KinematicsBasePtr	allocKinematicsSolverWithCache (const moveit::core::JointModelGroup *jmg)

void	status () const

Detailed Description

Definition at line 53 of file kinematics_plugin_loader.cpp.

Constructor & Destructor Documentation

◆ KinematicsLoaderImpl()

kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::KinematicsLoaderImpl	(	const rclcpp::Node::SharedPtr &	node,
		const std::string &	robot_description,
		const std::map< std::string, std::string > &	possible_kinematics_solvers,
		const std::map< std::string, double > &	search_res,
		const rclcpp::Logger &	logger
	)

inline

Pimpl Implementation of KinematicsLoader.

Parameters

robot_description
possible_kinematics_solvers
search_res

Definition at line 62 of file kinematics_plugin_loader.cpp.

Member Function Documentation

◆ allocKinematicsSolver()

kinematics::KinematicsBasePtr kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::allocKinematicsSolver ( const moveit::core::JointModelGroup * jmg )

inline

Definition at line 115 of file kinematics_plugin_loader.cpp.

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◆ allocKinematicsSolverWithCache()

kinematics::KinematicsBasePtr kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::allocKinematicsSolverWithCache ( const moveit::core::JointModelGroup * jmg )

inline

Definition at line 196 of file kinematics_plugin_loader.cpp.

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◆ chooseTipFrames()

std::vector< std::string > kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::chooseTipFrames ( const moveit::core::JointModelGroup * jmg )

inline

Helper function to decide which, and how many, tip frames a planning group has.

Parameters