moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Public Member Functions | List of all members
kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl Class Reference

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
jmg- joint model group pointer
Returns
tips - list of valid links in a planning group to plan for

Definition at line 88 of file kinematics_plugin_loader.cpp.

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◆ status()

void kinematics_plugin_loader::KinematicsPluginLoader::KinematicsLoaderImpl::status ( ) const
inline

Definition at line 208 of file kinematics_plugin_loader.cpp.


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