pr2_arm_kinematics::PR2ArmIK Class Reference

#include <pr2_arm_ik.h>

Public Member Functions
	PR2ArmIK ()
	~PR2ArmIK ()
bool	init (const urdf::ModelInterface &robot_model, const std::string &root_name, const std::string &tip_name)
	Initialize the solver by providing a urdf::Model and a root and tip name.
void	computeIKShoulderPan (const Eigen::Isometry3f &g_in, double shoulder_pan_initial_guess, std::vector< std::vector< double > > &solution) const
	compute IK based on an initial guess for the shoulder pan angle.
void	computeIKShoulderRoll (const Eigen::Isometry3f &g_in, double shoulder_roll_initial_guess, std::vector< std::vector< double > > &solution) const
	compute IK based on an initial guess for the shoulder roll angle. h
void	getSolverInfo (moveit_msgs::msg::KinematicSolverInfo &info)
	get chain information about the arm. This populates the IK query response, filling in joint level information including names and joint limits.

Public Attributes
moveit_msgs::msg::KinematicSolverInfo	solver_info_
	get chain information about the arm.

Detailed Description

Definition at line 122 of file pr2_arm_ik.h.

Constructor & Destructor Documentation

PR2ArmIK()

pr2_arm_kinematics::PR2ArmIK::PR2ArmIK

(

)

Definition at line 61 of file pr2_arm_ik.cpp.

~PR2ArmIK()

pr2_arm_kinematics::PR2ArmIK::~PR2ArmIK ( )

inline

Definition at line 131 of file pr2_arm_ik.h.

Member Function Documentation

computeIKShoulderPan()

void pr2_arm_kinematics::PR2ArmIK::computeIKShoulderPan	(	const Eigen::Isometry3f &	g_in,
		double	shoulder_pan_initial_guess,
		std::vector< std::vector< double > > &	solution
	)		const

compute IK based on an initial guess for the shoulder pan angle.

Parameters

Input	pose for end-effector
Initial	guess for shoulder pan angle

Definition at line 210 of file pr2_arm_ik.cpp.

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computeIKShoulderRoll()

void pr2_arm_kinematics::PR2ArmIK::computeIKShoulderRoll	(	const Eigen::Isometry3f &	g_in,
		double	shoulder_roll_initial_guess,
		std::vector< std::vector< double > > &	solution
	)		const

compute IK based on an initial guess for the shoulder roll angle. h

Parameters

Input	pose for end-effector
Initial	guess for shoulder roll angle

Definition at line 475 of file pr2_arm_ik.cpp.

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getSolverInfo()

void pr2_arm_kinematics::PR2ArmIK::getSolverInfo

(

moveit_msgs::msg::KinematicSolverInfo &

info

)

get chain information about the arm. This populates the IK query response, filling in joint level information including names and joint limits.

Parameters

The	response structure to be filled in.

Definition at line 205 of file pr2_arm_ik.cpp.

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init()

bool pr2_arm_kinematics::PR2ArmIK::init	(	const urdf::ModelInterface &	robot_model,
		const std::string &	root_name,
		const std::string &	tip_name
	)

Initialize the solver by providing a urdf::Model and a root and tip name.

Parameters

A	urdf::Model representation of the PR2 robot model
The	root joint name of the arm
The	tip joint name of the arm

Returns

true if initialization was successful, false otherwise.

Definition at line 65 of file pr2_arm_ik.cpp.

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Member Data Documentation

solver_info_

moveit_msgs::msg::KinematicSolverInfo pr2_arm_kinematics::PR2ArmIK::solver_info_

get chain information about the arm.

Definition at line 170 of file pr2_arm_ik.h.

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

• moveit_core/constraint_samplers/test/pr2_arm_ik.h
• moveit_core/constraint_samplers/test/pr2_arm_ik.cpp