#include <pr2_arm_kinematics_plugin.h>

Inheritance diagram for pr2_arm_kinematics::PR2ArmKinematicsPlugin:

Collaboration diagram for pr2_arm_kinematics::PR2ArmKinematicsPlugin:

Public Member Functions
	PR2ArmKinematicsPlugin ()

bool	isActive ()
	Specifies if the node is active or not.

bool	getPositionIK (const geometry_msgs::msg::Pose &ik_pose, const std::vector< double > &ik_seed_state, std::vector< double > &solution, moveit_msgs::msg::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const override
	Given a desired pose of the end-effector, compute the joint angles to reach it.

bool	searchPositionIK (const geometry_msgs::msg::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, std::vector< double > &solution, moveit_msgs::msg::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const override
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

bool	searchPositionIK (const geometry_msgs::msg::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, moveit_msgs::msg::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const override
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

bool	searchPositionIK (const geometry_msgs::msg::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::msg::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const override
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

bool	searchPositionIK (const geometry_msgs::msg::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::msg::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const override
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines). The consistency_limit specifies that only certain redundancy positions around those specified in the seed state are admissible and need to be searched.

bool	getPositionFK (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::msg::Pose > &poses) const override
	Given a set of joint angles and a set of links, compute their pose.

bool	initialize (const rclcpp::Node::SharedPtr &node, const moveit::core::RobotModel &robot_model, const std::string &group_name, const std::string &base_frame, const std::vector< std::string > &tip_frames, double search_discretization) override
	Initialization function for the kinematics.

const std::vector< std::string > &	getJointNames () const override
	Return all the joint names in the order they are used internally.

const std::vector< std::string > &	getLinkNames () const override
	Return all the link names in the order they are represented internally.

Public Member Functions inherited from kinematics::KinematicsBase
virtual bool	getPositionIK (const std::vector< geometry_msgs::msg::Pose > &ik_poses, const std::vector< double > &ik_seed_state, std::vector< std::vector< double > > &solutions, KinematicsResult &result, const kinematics::KinematicsQueryOptions &options) const
	Given the desired poses of all end-effectors, compute joint angles that are able to reach it.

virtual bool	searchPositionIK (const std::vector< geometry_msgs::msg::Pose > &ik_poses, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::msg::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions(), const moveit::core::RobotState *context_state=nullptr) const
	Given a set of desired poses for a planning group with multiple end-effectors, search for the joint angles required to reach them. This is useful for e.g. biped robots that need to perform whole-body IK. Not necessary for most robots that have kinematic chains. This particular method is intended for "searching" for a solution by stepping through the redundancy (or other numerical routines).

virtual bool	searchPositionIK (const std::vector< geometry_msgs::msg::Pose > &ik_poses, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, const IKCallbackFn &solution_callback, const IKCostFn &cost_function, moveit_msgs::msg::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions(), const moveit::core::RobotState *context_state=nullptr) const
	Given a set of desired poses for a planning group with multiple end-effectors, search for the joint angles required to reach them. This is useful for e.g. biped robots that need to perform whole-body IK. Not necessary for most robots that have kinematic chains. This particular method is intended for "searching" for a solution by stepping through the redundancy (or other numerical routines).

virtual void	setValues (const std::string &robot_description, const std::string &group_name, const std::string &base_frame, const std::vector< std::string > &tip_frames, double search_discretization)
	Set the parameters for the solver, for use with non-chain IK solvers.

virtual const std::string &	getGroupName () const
	Return the name of the group that the solver is operating on.

virtual const std::string &	getBaseFrame () const
	Return the name of the frame in which the solver is operating. This is usually a link name. No namespacing (e.g., no "/" prefix) should be used.

virtual const std::string &	getTipFrame () const
	Return the name of the tip frame of the chain on which the solver is operating. This is usually a link name. No namespacing (e.g., no "/" prefix) should be used.

virtual const std::vector< std::string > &	getTipFrames () const
	Return the names of the tip frames of the kinematic tree on which the solver is operating. This is usually a link name. No namespacing (e.g., no "/" prefix) should be used.

virtual bool	setRedundantJoints (const std::vector< unsigned int > &redundant_joint_indices)
	Set a set of redundant joints for the kinematics solver to use. This can fail, depending on the IK solver and choice of redundant joints!. Also, it sets the discretization values for each redundant joint to a default value.

bool	setRedundantJoints (const std::vector< std::string > &redundant_joint_names)
	Set a set of redundant joints for the kinematics solver to use. This function is just a convenience function that calls the previous definition of setRedundantJoints()

virtual void	getRedundantJoints (std::vector< unsigned int > &redundant_joint_indices) const
	Get the set of redundant joints.

virtual bool	supportsGroup (const moveit::core::JointModelGroup jmg, std::string error_text_out=nullptr) const
	Check if this solver supports a given JointModelGroup.

void	setSearchDiscretization (double sd)
	Set the search discretization value for all the redundant joints.

void	setSearchDiscretization (const std::map< int, double > &discretization)
	Sets individual discretization values for each redundant joint.

double	getSearchDiscretization (int joint_index=0) const
	Get the value of the search discretization.

std::vector< DiscretizationMethod >	getSupportedDiscretizationMethods () const
	Returns the set of supported kinematics discretization search types. This implementation only supports the DiscretizationMethods::ONE search.

void	setDefaultTimeout (double timeout)
	For functions that require a timeout specified but one is not specified using arguments, a default timeout is used, as set by this function (and initialized to KinematicsBase::DEFAULT_TIMEOUT)

double	getDefaultTimeout () const
	For functions that require a timeout specified but one is not specified using arguments, this default timeout is used.

virtual	~KinematicsBase ()
	Virtual destructor for the interface.

	KinematicsBase ()

Protected Member Functions
void	desiredPoseCallback (const KDL::JntArray &jnt_array, const KDL::Frame &ik_pose, moveit_msgs::msg::MoveItErrorCodes &error_code) const

void	jointSolutionCallback (const KDL::JntArray &jnt_array, const KDL::Frame &ik_pose, moveit_msgs::msg::MoveItErrorCodes &error_code) const

Protected Member Functions inherited from kinematics::KinematicsBase
void	storeValues (const moveit::core::RobotModel &robot_model, const std::string &group_name, const std::string &base_frame, const std::vector< std::string > &tip_frames, double search_discretization)

Protected Attributes
bool	active_

int	free_angle_

pr2_arm_kinematics::PR2ArmIKSolverPtr	pr2_arm_ik_solver_

std::string	root_name_

int	dimension_

std::shared_ptr< KDL::ChainFkSolverPos_recursive >	jnt_to_pose_solver_

KDL::Chain	kdl_chain_

moveit_msgs::msg::KinematicSolverInfo	ik_solver_info_

moveit_msgs::msg::KinematicSolverInfo	fk_solver_info_

IKCallbackFn	desiredPoseCallback_

IKCallbackFn	solutionCallback_

Protected Attributes inherited from kinematics::KinematicsBase
rclcpp::Node::SharedPtr	node_

moveit::core::RobotModelConstPtr	robot_model_

std::string	robot_description_

std::string	group_name_

std::string	base_frame_

std::vector< std::string >	tip_frames_

double	default_timeout_

std::vector< unsigned int >	redundant_joint_indices_

std::map< int, double >	redundant_joint_discretization_

std::vector< DiscretizationMethod >	supported_methods_

Additional Inherited Members
Public Types inherited from kinematics::KinematicsBase
using	IKCallbackFn = std::function< void(const geometry_msgs::msg::Pose &, const std::vector< double > &, moveit_msgs::msg::MoveItErrorCodes &)>
	Signature for a callback to validate an IK solution. Typically used for collision checking.

using	IKCostFn = std::function< double(const geometry_msgs::msg::Pose &, const moveit::core::RobotState &, const moveit::core::JointModelGroup *, const std::vector< double > &)>
	Signature for a cost function used to evaluate IK solutions.

Static Public Attributes inherited from kinematics::KinematicsBase
static const double	DEFAULT_SEARCH_DISCRETIZATION = 0.1

static const double	DEFAULT_TIMEOUT = 1.0

Detailed Description

Definition at line 128 of file pr2_arm_kinematics_plugin.h.

Constructor & Destructor Documentation

◆ PR2ArmKinematicsPlugin()

pr2_arm_kinematics::PR2ArmKinematicsPlugin::PR2ArmKinematicsPlugin ( )

Definition at line 265 of file pr2_arm_kinematics_plugin.cpp.

Member Function Documentation

◆ desiredPoseCallback()

void pr2_arm_kinematics::PR2ArmKinematicsPlugin::desiredPoseCallback	(	const KDL::JntArray &	jnt_array,
		const KDL::Frame &	ik_pose,
		moveit_msgs::msg::MoveItErrorCodes &	error_code
	)		const

protected

◆ getJointNames()

const std::vector< std::string > & pr2_arm_kinematics::PR2ArmKinematicsPlugin::getJointNames ( ) const

overridevirtual

Return all the joint names in the order they are used internally.

Implements kinematics::KinematicsBase.

Definition at line 429 of file pr2_arm_kinematics_plugin.cpp.

◆ getLinkNames()

const std::vector< std::string > & pr2_arm_kinematics::PR2ArmKinematicsPlugin::getLinkNames ( ) const

overridevirtual

Return all the link names in the order they are represented internally.

Implements kinematics::KinematicsBase.

Definition at line 438 of file pr2_arm_kinematics_plugin.cpp.

◆ getPositionFK()

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::getPositionFK	(	const std::vector< std::string > &	link_names,
		const std::vector< double > &	joint_angles,
		std::vector< geometry_msgs::msg::Pose > &	poses
	)		const

overridevirtual

Given a set of joint angles and a set of links, compute their pose.

Parameters

request	- the request contains the joint angles, set of links for which poses are to be computed and a timeout
response	- the response contains stamped pose information for all the requested links

Returns: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 422 of file pr2_arm_kinematics_plugin.cpp.

◆ getPositionIK()

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::getPositionIK	(	const geometry_msgs::msg::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution,
		moveit_msgs::msg::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const

overridevirtual

Given a desired pose of the end-effector, compute the joint angles to reach it.

Parameters

ik_link_name	- the name of the link for which IK is being computed
ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics

Returns: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 328 of file pr2_arm_kinematics_plugin.cpp.

◆ initialize()

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::initialize	(	const rclcpp::Node::SharedPtr &	node,
		const moveit::core::RobotModel &	robot_model,
		const std::string &	group_name,
		const std::string &	base_frame,
		const std::vector< std::string > &	tip_frames,
		double	search_discretization
	)

overridevirtual

Initialization function for the kinematics.

Returns: True if initialization was successful, false otherwise

Reimplemented from kinematics::KinematicsBase.

Definition at line 274 of file pr2_arm_kinematics_plugin.cpp.

Here is the call graph for this function:

◆ isActive()

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::isActive ( )

Specifies if the node is active or not.

Returns: True if the node is active, false otherwise.

Definition at line 269 of file pr2_arm_kinematics_plugin.cpp.

◆ jointSolutionCallback()

void pr2_arm_kinematics::PR2ArmKinematicsPlugin::jointSolutionCallback	(	const KDL::JntArray &	jnt_array,
		const KDL::Frame &	ik_pose,
		moveit_msgs::msg::MoveItErrorCodes &	error_code
	)		const

protected

◆ searchPositionIK() [1/4]

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::searchPositionIK	(	const geometry_msgs::msg::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		double	timeout,
		const std::vector< double > &	consistency_limits,
		std::vector< double > &	solution,
		const IKCallbackFn &	solution_callback,
		moveit_msgs::msg::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const

overridevirtual

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines). The consistency_limit specifies that only certain redundancy positions around those specified in the seed state are admissible and need to be searched.

Parameters

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics
consistency_limit	the distance that the redundancy can be from the current position

Returns: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 411 of file pr2_arm_kinematics_plugin.cpp.

◆ searchPositionIK() [2/4]

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::searchPositionIK	(	const geometry_msgs::msg::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		double	timeout,
		const std::vector< double > &	consistency_limits,
		std::vector< double > &	solution,
		moveit_msgs::msg::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const

overridevirtual

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics
consistency_limit	the distance that the redundancy can be from the current position

Returns: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 391 of file pr2_arm_kinematics_plugin.cpp.

◆ searchPositionIK() [3/4]

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::searchPositionIK	(	const geometry_msgs::msg::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		double	timeout,
		std::vector< double > &	solution,
		const IKCallbackFn &	solution_callback,
		moveit_msgs::msg::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const

overridevirtual

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics

Returns: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 401 of file pr2_arm_kinematics_plugin.cpp.

◆ searchPositionIK() [4/4]

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::searchPositionIK	(	const geometry_msgs::msg::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		double	timeout,
		std::vector< double > &	solution,
		moveit_msgs::msg::MoveItErrorCodes &	error_code,
		const kinematics::KinematicsQueryOptions &	options = `kinematics::KinematicsQueryOptions()`
	)		const

overridevirtual

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters