moveit::core::JointModelGroup::KinematicsSolver Struct Reference

#include <joint_model_group.h>

Public Member Functions
	KinematicsSolver ()
	operator bool () const
	Return a flag indicating whether the state of the solver is initialized.
void	reset ()

Public Attributes
SolverAllocatorFn	allocator_
	Function type that allocates a kinematics solver for a particular group.
std::vector< size_t >	bijection_
	The mapping between the order of the joints in the group and the order of the joints in the kinematics solver. An element bijection[i] at index i in this array, maps the variable at index bijection[i] in this group to the variable at index i in the kinematic solver.
kinematics::KinematicsBasePtr	solver_instance_
double	default_ik_timeout_

Detailed Description

Definition at line 72 of file joint_model_group.h.

Constructor & Destructor Documentation

KinematicsSolver()

moveit::core::JointModelGroup::KinematicsSolver::KinematicsSolver ( )

inline

Definition at line 74 of file joint_model_group.h.

Member Function Documentation

operator bool()

moveit::core::JointModelGroup::KinematicsSolver::operator bool ( ) const

inline

Return a flag indicating whether the state of the solver is initialized.

Definition at line 79 of file joint_model_group.h.

reset()

void moveit::core::JointModelGroup::KinematicsSolver::reset ( )

inline

Definition at line 84 of file joint_model_group.h.

Member Data Documentation

allocator_

SolverAllocatorFn moveit::core::JointModelGroup::KinematicsSolver::allocator_

Function type that allocates a kinematics solver for a particular group.

Definition at line 91 of file joint_model_group.h.

bijection_

std::vector<size_t> moveit::core::JointModelGroup::KinematicsSolver::bijection_

The mapping between the order of the joints in the group and the order of the joints in the kinematics solver. An element bijection[i] at index i in this array, maps the variable at index bijection[i] in this group to the variable at index i in the kinematic solver.

Definition at line 98 of file joint_model_group.h.

default_ik_timeout_

double moveit::core::JointModelGroup::KinematicsSolver::default_ik_timeout_

Definition at line 102 of file joint_model_group.h.

solver_instance_

kinematics::KinematicsBasePtr moveit::core::JointModelGroup::KinematicsSolver::solver_instance_

Definition at line 100 of file joint_model_group.h.

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

• moveit_core/robot_model/include/moveit/robot_model/joint_model_group.h