Inheritance diagram for prbt_manipulator::IKFastKinematicsPlugin:

Collaboration diagram for prbt_manipulator::IKFastKinematicsPlugin:

Public Member Functions
	IKFastKinematicsPlugin ()

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	getPositionIK (const std::vector< geometry_msgs::msg::Pose > &ik_poses, const std::vector< double > &ik_seed_state, std::vector< std::vector< double > > &solutions, kinematics::KinematicsResult &result, const kinematics::KinematicsQueryOptions &options) const override
	Given a desired pose of the end-effector, compute the set joint angles solutions that are able 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.

void	setSearchDiscretization (const std::map< unsigned int, double > &discretization)
	Sets the discretization value for the redundant joint.

bool	setRedundantJoints (const std::vector< unsigned int > &redundant_joint_indices) override
	Overrides the default method to prevent changing the redundant joints.

Public Member Functions inherited from kinematics::KinematicsBase
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.

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 ()

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

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 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_

Detailed Description

Definition at line 162 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

Constructor & Destructor Documentation

◆ IKFastKinematicsPlugin()

prbt_manipulator::IKFastKinematicsPlugin::IKFastKinematicsPlugin ( )

inline

Definition at line 207 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

Member Function Documentation

◆ getPositionFK()

bool prbt_manipulator::IKFastKinematicsPlugin::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

link_names	A set of links for which FK needs to be computed
joint_angles	The state for which FK is being computed
poses	The resultant set of poses (in the frame returned by getBaseFrame())

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

Implements kinematics::KinematicsBase.

Definition at line 771 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

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◆ getPositionIK() [1/2]

bool prbt_manipulator::IKFastKinematicsPlugin::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_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics
solution	the solution vector
error_code	an error code that encodes the reason for failure or success

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

Implements kinematics::KinematicsBase.

Definition at line 1090 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

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◆ getPositionIK() [2/2]

bool prbt_manipulator::IKFastKinematicsPlugin::getPositionIK	(	const std::vector< geometry_msgs::msg::Pose > &	ik_poses,
		const std::vector< double > &	ik_seed_state,
		std::vector< std::vector< double > > &	solutions,
		kinematics::KinematicsResult &	result,
		const kinematics::KinematicsQueryOptions &	options
	)		const

overridevirtual

Given a desired pose of the end-effector, compute the set joint angles solutions that are able to reach it.

This is a default implementation that returns only one solution and so its result is equivalent to calling 'getPositionIK(...)' with a zero initialized seed.

Parameters

ik_poses	The desired pose of each tip link
ik_seed_state	an initial guess solution for the inverse kinematics
solutions	A vector of vectors where each entry is a valid joint solution
result	A struct that reports the results of the query
options	An option struct which contains the type of redundancy discretization used. This default implementation only supports the KinmaticSearches::NO_DISCRETIZATION method; requesting any other will result in failure.

Returns: True if a valid set of solutions was found, false otherwise.

Reimplemented from kinematics::KinematicsBase.

Definition at line 1197 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

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◆ searchPositionIK() [1/4]

bool prbt_manipulator::IKFastKinematicsPlugin::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 858 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

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◆ searchPositionIK() [2/4]

bool prbt_manipulator::IKFastKinematicsPlugin::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
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 837 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

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◆ searchPositionIK() [3/4]

bool prbt_manipulator::IKFastKinematicsPlugin::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 847 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

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◆ searchPositionIK() [4/4]

bool prbt_manipulator::IKFastKinematicsPlugin::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

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 827 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

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◆ setRedundantJoints()

bool prbt_manipulator::IKFastKinematicsPlugin::setRedundantJoints ( const std::vector< unsigned int > & redundant_joint_indices )

overridevirtual

Overrides the default method to prevent changing the redundant joints.

Reimplemented from kinematics::KinematicsBase.

Definition at line 552 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ setSearchDiscretization()

void prbt_manipulator::IKFastKinematicsPlugin::setSearchDiscretization ( const std::map< unsigned int, double > & discretization )

Sets the discretization value for the redundant joint.

Since this ikfast implementation allows for one redundant joint then only the first entry will be in the discretization map will be used. Calling this method replaces previous discretization settings.

Parameters

discretization a map of joint indices and discretization value pairs.

Definition at line 519 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

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

moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_moveit_plugin.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ IKFastKinematicsPlugin()

Member Function Documentation

◆ getPositionFK()

◆ getPositionIK() [1/2]

◆ getPositionIK() [2/2]

◆ searchPositionIK() [1/4]

◆ searchPositionIK() [2/4]

◆ searchPositionIK() [3/4]

◆ searchPositionIK() [4/4]

◆ setRedundantJoints()

◆ setSearchDiscretization()