Class MoveItIKSolver

Inheritance Relationships

Base Type

  • public reach::IKSolver

Derived Type

Class Documentation

class MoveItIKSolver : public reach::IKSolver

Subclassed by reach_ros::ik::DiscretizedMoveItIKSolver

Public Functions

MoveItIKSolver(moveit::core::RobotModelConstPtr model, const std::string &planning_group, double dist_threshold)
virtual std::vector<std::vector<double>> solveIK(const Eigen::Isometry3d &target, const std::map<std::string, double> &seed) const override
virtual std::vector<std::string> getJointNames() const override
void setTouchLinks(const std::vector<std::string> &touch_links)
void addCollisionMesh(const std::string &collision_mesh_filename, const std::string &collision_mesh_frame)
std::string getKinematicBaseFrame() const

Protected Functions

bool isIKSolutionValid(moveit::core::RobotState *state, const moveit::core::JointModelGroup *jmg, const double *ik_solution) const

Protected Attributes

moveit::core::RobotModelConstPtr model_
const moveit::core::JointModelGroup *jmg_
const double distance_threshold_
planning_scene::PlanningScenePtr scene_
rclcpp::Publisher<moveit_msgs::msg::PlanningScene>::SharedPtr scene_pub_

Protected Static Attributes

static std::string COLLISION_OBJECT_NAME