prbt_manipulator Namespace Reference

Classes
class	IKFastKinematicsPlugin
struct	LimitObeyingSol

Enumerations
enum	IkParameterizationType {   IKP_None = 0 , IKP_Transform6D = 0x67000001 , IKP_Rotation3D = 0x34000002 , IKP_Translation3D = 0x33000003 ,   IKP_Direction3D = 0x23000004 , IKP_Ray4D = 0x46000005 , IKP_Lookat3D = 0x23000006 , IKP_TranslationDirection5D = 0x56000007 ,   IKP_TranslationXY2D = 0x22000008 , IKP_TranslationXYOrientation3D = 0x33000009 , IKP_TranslationLocalGlobal6D = 0x3600000a , IKP_TranslationXAxisAngle4D = 0x4400000b ,   IKP_TranslationYAxisAngle4D = 0x4400000c , IKP_TranslationZAxisAngle4D = 0x4400000d , IKP_TranslationXAxisAngleZNorm4D = 0x4400000e , IKP_TranslationYAxisAngleXNorm4D = 0x4400000f ,   IKP_TranslationZAxisAngleYNorm4D = 0x44000010 , IKP_NumberOfParameterizations = 16 , IKP_VelocityDataBit , IKP_Transform6DVelocity = IKP_Transform6D | IKP_VelocityDataBit ,   IKP_Rotation3DVelocity = IKP_Rotation3D | IKP_VelocityDataBit , IKP_Translation3DVelocity = IKP_Translation3D | IKP_VelocityDataBit , IKP_Direction3DVelocity = IKP_Direction3D | IKP_VelocityDataBit , IKP_Ray4DVelocity = IKP_Ray4D | IKP_VelocityDataBit ,   IKP_Lookat3DVelocity = IKP_Lookat3D | IKP_VelocityDataBit , IKP_TranslationDirection5DVelocity = IKP_TranslationDirection5D | IKP_VelocityDataBit , IKP_TranslationXY2DVelocity = IKP_TranslationXY2D | IKP_VelocityDataBit , IKP_TranslationXYOrientation3DVelocity = IKP_TranslationXYOrientation3D | IKP_VelocityDataBit ,   IKP_TranslationLocalGlobal6DVelocity = IKP_TranslationLocalGlobal6D | IKP_VelocityDataBit , IKP_TranslationXAxisAngle4DVelocity = IKP_TranslationXAxisAngle4D | IKP_VelocityDataBit , IKP_TranslationYAxisAngle4DVelocity = IKP_TranslationYAxisAngle4D | IKP_VelocityDataBit , IKP_TranslationZAxisAngle4DVelocity = IKP_TranslationZAxisAngle4D | IKP_VelocityDataBit ,   IKP_TranslationXAxisAngleZNorm4DVelocity = IKP_TranslationXAxisAngleZNorm4D | IKP_VelocityDataBit , IKP_TranslationYAxisAngleXNorm4DVelocity = IKP_TranslationYAxisAngleXNorm4D | IKP_VelocityDataBit , IKP_TranslationZAxisAngleYNorm4DVelocity = IKP_TranslationZAxisAngleYNorm4D | IKP_VelocityDataBit , IKP_UniqueIdMask = 0x0000ffff ,   IKP_CustomDataBit = 0x00010000 }
	The types of inverse kinematics parameterizations supported. More...

Enumeration Type Documentation

IkParameterizationType

enum prbt_manipulator::IkParameterizationType

The types of inverse kinematics parameterizations supported.

The minimum degree of freedoms required is set in the upper 4 bits of each type. The number of values used to represent the parameterization ( >= dof ) is the next 4 bits. The lower bits contain a unique id of the type.

Enumerator
IKP_None
IKP_Transform6D	end effector reaches desired 6D transformation
IKP_Rotation3D	end effector reaches desired 3D rotation
IKP_Translation3D	end effector origin reaches desired 3D translation
IKP_Direction3D	direction on end effector coordinate system reaches desired direction
IKP_Ray4D	ray on end effector coordinate system reaches desired global ray
IKP_Lookat3D	direction on end effector coordinate system points to desired 3D position
IKP_TranslationDirection5D	end effector origin and direction reaches desired 3D translation and
IKP_TranslationXY2D	2D translation along XY plane direction. Can be thought of as Ray IK where the origin of the ray must coincide.
IKP_TranslationXYOrientation3D	2D translation along XY plane and 1D rotation around Z axis. The
IKP_TranslationLocalGlobal6D	local point on end effector origin reaches desired 3D global point offset of the rotation is measured starting at +X, so at +X is it 0, at +Y it is pi/2.
IKP_TranslationXAxisAngle4D	end effector origin reaches desired 3D translation, manipulator
IKP_TranslationYAxisAngle4D	direction makes a specific angle with x-axis like a cone, angle is from 0-pi. Axes defined in the manipulator base link's coordinate system) end effector origin reaches desired 3D translation, manipulator
IKP_TranslationZAxisAngle4D	direction makes a specific angle with y-axis like a cone, angle is from 0-pi. Axes defined in the manipulator base link's coordinate system) end effector origin reaches desired 3D translation, manipulator
IKP_TranslationXAxisAngleZNorm4D	direction makes a specific angle with z-axis like a cone, angle is from 0-pi. Axes are defined in the manipulator base link's coordinate system. end effector origin reaches desired 3D translation, manipulator
IKP_TranslationYAxisAngleXNorm4D	direction needs to be orthogonal to z-axis and be rotated at a certain angle starting from the x-axis (defined in the manipulator base link's coordinate system) end effector origin reaches desired 3D translation, manipulator
IKP_TranslationZAxisAngleYNorm4D	direction needs to be orthogonal to x-axis and be rotated at a certain angle starting from the y-axis (defined in the manipulator base link's coordinate system) end effector origin reaches desired 3D translation, manipulator
IKP_NumberOfParameterizations	number of parameterizations (does not count IKP_None) direction needs to be orthogonal to y-axis and be rotated at a certain angle starting from the z-axis (defined in the manipulator base link's coordinate system)
IKP_VelocityDataBit	bit is set if the data represents the time-derivate velocity of an IkParameterization
IKP_Transform6DVelocity
IKP_Rotation3DVelocity
IKP_Translation3DVelocity
IKP_Direction3DVelocity
IKP_Ray4DVelocity
IKP_Lookat3DVelocity
IKP_TranslationDirection5DVelocity
IKP_TranslationXY2DVelocity
IKP_TranslationXYOrientation3DVelocity
IKP_TranslationLocalGlobal6DVelocity
IKP_TranslationXAxisAngle4DVelocity
IKP_TranslationYAxisAngle4DVelocity
IKP_TranslationZAxisAngle4DVelocity
IKP_TranslationXAxisAngleZNorm4DVelocity
IKP_TranslationYAxisAngleXNorm4DVelocity
IKP_TranslationZAxisAngleYNorm4DVelocity
IKP_UniqueIdMask	the mask for the unique ids
IKP_CustomDataBit	bit is set if the ikparameterization contains custom data, this is only used

Definition at line 77 of file prbt_manipulator_ikfast_moveit_plugin.cpp.