pr2_arm_kinematics::PR2ArmIKSolver Class Reference

#include <pr2_arm_kinematics_plugin.hpp>

Inheritance diagram for pr2_arm_kinematics::PR2ArmIKSolver:

Collaboration diagram for pr2_arm_kinematics::PR2ArmIKSolver:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	PR2ArmIKSolver (const urdf::ModelInterface &robot_model, const std::string &root_frame_name, const std::string &tip_frame_name, double search_discretization_angle, int free_angle)
	ROS/KDL based interface for the inverse kinematics of the PR2 arm.
	~PR2ArmIKSolver () override
void	updateInternalDataStructures () override
int	CartToJnt (const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out) override
int	cartToJntSearch (const KDL::JntArray &q_in, const KDL::Frame &p_in, KDL::JntArray &q_out, double timeout)
void	getSolverInfo (moveit_msgs::msg::KinematicSolverInfo &response)

Public Attributes
PR2ArmIK	pr2_arm_ik_
	The PR2 inverse kinematics solver.
bool	active_
	Indicates whether the solver has been successfully initialized.

Detailed Description

Definition at line 73 of file pr2_arm_kinematics_plugin.hpp.

Constructor & Destructor Documentation

PR2ArmIKSolver()

pr2_arm_kinematics::PR2ArmIKSolver::PR2ArmIKSolver	(	const urdf::ModelInterface &	robot_model,
		const std::string &	root_frame_name,
		const std::string &	tip_frame_name,
		double	search_discretization_angle,
		int	free_angle )

ROS/KDL based interface for the inverse kinematics of the PR2 arm.

Author

Sachin Chitta sachi.nosp@m.nc@w.nosp@m.illow.nosp@m.gara.nosp@m.ge.co.nosp@m.m

This class provides a KDL based interface to the inverse kinematics of the PR2 arm. It inherits from the KDL::ChainIkSolverPos class but also exposes additional functionality to return multiple solutions from an inverse kinematics computation.

Definition at line 96 of file pr2_arm_kinematics_plugin.cpp.

~PR2ArmIKSolver()

pr2_arm_kinematics::PR2ArmIKSolver::~PR2ArmIKSolver ( )

inlineoverride

Definition at line 89 of file pr2_arm_kinematics_plugin.hpp.

Member Function Documentation

CartToJnt()

int pr2_arm_kinematics::PR2ArmIKSolver::CartToJnt ( const KDL::JntArray & q_init, const KDL::Frame & p_in, KDL::JntArray & q_out )

override

Definition at line 112 of file pr2_arm_kinematics_plugin.cpp.

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cartToJntSearch()

int pr2_arm_kinematics::PR2ArmIKSolver::cartToJntSearch	(	const KDL::JntArray &	q_in,
		const KDL::Frame &	p_in,
		KDL::JntArray &	q_out,
		double	timeout )

Definition at line 166 of file pr2_arm_kinematics_plugin.cpp.

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getSolverInfo()

void pr2_arm_kinematics::PR2ArmIKSolver::getSolverInfo ( moveit_msgs::msg::KinematicSolverInfo & response )

inline

Definition at line 107 of file pr2_arm_kinematics_plugin.hpp.

updateInternalDataStructures()

void pr2_arm_kinematics::PR2ArmIKSolver::updateInternalDataStructures ( )

override

Definition at line 106 of file pr2_arm_kinematics_plugin.cpp.

Member Data Documentation

active_

bool pr2_arm_kinematics::PR2ArmIKSolver::active_

Indicates whether the solver has been successfully initialized.

Definition at line 101 of file pr2_arm_kinematics_plugin.hpp.

pr2_arm_ik_

PR2ArmIK pr2_arm_kinematics::PR2ArmIKSolver::pr2_arm_ik_

The PR2 inverse kinematics solver.

Definition at line 96 of file pr2_arm_kinematics_plugin.hpp.

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

• moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.hpp
• moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp