#include <compute_ik.h>

Inheritance diagram for moveit::task_constructor::stages::ComputeIK:

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Collaboration diagram for moveit::task_constructor::stages::ComputeIK:

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Public Member Functions
	ComputeIK (const std::string &name="IK", Stage::pointer &&child=Stage::pointer())

void	reset () override
	reset stage, clearing all solutions, interfaces, inherited properties.

void	init (const core::RobotModelConstPtr &robot_model) override

void	onNewSolution (const SolutionBase &s) override
	called by a (direct) child when a new solution becomes available

bool	canCompute () const override

void	compute () override

void	setEndEffector (const std::string &eef)

void	setGroup (const std::string &group)

void	setIKFrame (const geometry_msgs::PoseStamped &pose)
	setters for IK frame

void	setIKFrame (const Eigen::Isometry3d &pose, const std::string &link)

template<typename T >
void	setIKFrame (const T &p, const std::string &link)

void	setIKFrame (const std::string &link)

void	setTargetPose (const geometry_msgs::PoseStamped &pose)

void	setTargetPose (const Eigen::Isometry3d &pose, const std::string &frame="")

template<typename T >
void	setTargetPose (const T &p, const std::string &frame="")

void	setMaxIKSolutions (uint32_t n)

void	setIgnoreCollisions (bool flag)

void	setMinSolutionDistance (double distance)

Public Member Functions inherited from moveit::task_constructor::WrapperBase
	WrapperBase (const std::string &name="wrapper", Stage::pointer &&child=Stage::pointer())

void	insert (Stage::pointer &&stage, int before=-1) override
	insertion is only allowed if children() is empty

Stage *	wrapped ()
	access the single wrapped child, NULL if still empty

const Stage *	wrapped () const

Public Member Functions inherited from moveit::task_constructor::ParallelContainerBase
	ParallelContainerBase (const std::string &name="parallel container")

Public Member Functions inherited from moveit::task_constructor::ContainerBase
void	setPruning (bool pruning)
	Explicitly enable/disable pruning.

bool	pruning () const

size_t	numChildren () const

Stage *	findChild (const std::string &name) const

Stage *	operator[] (int index) const

bool	traverseChildren (const StageCallback &processor) const
	traverse direct children of this container, calling the callback for each of them

bool	traverseRecursively (const StageCallback &processor) const
	traverse all children of this container recursively

void	add (Stage::pointer &&stage)

virtual Stage::pointer	remove (int pos)

virtual Stage::pointer	remove (Stage *child)

virtual void	clear ()

void	init (const moveit::core::RobotModelConstPtr &robot_model) override

bool	explainFailure (std::ostream &os) const override

Public Member Functions inherited from moveit::task_constructor::Stage
const ContainerBase *	parent () const

const std::string &	name () const

void	setName (const std::string &name)

uint32_t	introspectionId () const

Introspection *	introspection () const

void	setTimeout (double timeout)

double	timeout () const
	timeout of stage per computation

void	setMarkerNS (const std::string &marker_ns)

const std::string &	markerNS ()
	marker namespace of solution markers

void	setTrajectoryExecutionInfo (TrajectoryExecutionInfo trajectory_execution_info)
	Set and get info to use when executing the stage's trajectory.

TrajectoryExecutionInfo	trajectoryExecutionInfo () const

void	forwardProperties (const InterfaceState &source, InterfaceState &dest)
	forwarding of properties between interface states

std::set< std::string >	forwardedProperties () const

void	setForwardedProperties (const std::set< std::string > &names)

SolutionCallbackList::const_iterator	addSolutionCallback (SolutionCallback &&cb)
	add function to be called for every newly found solution or failure

void	removeSolutionCallback (SolutionCallbackList::const_iterator which)
	remove function callback

void	setCostTerm (const CostTermConstPtr &term)

template<typename T , typename = std::enable_if_t<std::is_constructible<LambdaCostTerm, T>::value>>
void	setCostTerm (T term)

const ordered< SolutionBaseConstPtr > &	solutions () const

const std::list< SolutionBaseConstPtr > &	failures () const

size_t	numFailures () const

void	silentFailure ()
	Call to increase number of failures w/o storing a (failure) trajectory.

bool	storeFailures () const
	Should we generate failure solutions? Note: Always report a failure!

PropertyMap &	properties ()
	Get the stage's property map.

const PropertyMap &	properties () const

void	setProperty (const std::string &name, const boost::any &value)
	Set a previously declared property to a new value.

void	setProperty (const std::string &name, const char *value)
	overload: const char* values are stored as std::string

void	reportPropertyError (const Property::error &e)
	Analyze source of error and report accordingly.

double	getTotalComputeTime () const

Protected Attributes
ordered< const SolutionBase * >	upstream_solutions_

Protected Attributes inherited from moveit::task_constructor::Stage
StagePrivate *	pimpl_

Additional Inherited Members
Public Types inherited from moveit::task_constructor::ContainerBase
using	pointer = std::unique_ptr< ContainerBase >

using	StageCallback = std::function< bool(const Stage &, unsigned int)>

Public Types inherited from moveit::task_constructor::Stage
enum	PropertyInitializerSource : uint8_t { DEFAULT = 0 , MANUAL = 1 , PARENT = 2 , INTERFACE = 4 }

using	pointer = std::unique_ptr< Stage >

using	SolutionCallback = std::function< void(const SolutionBase &)>

using	SolutionCallbackList = std::list< SolutionCallback >

Protected Member Functions inherited from moveit::task_constructor::WrapperBase
	WrapperBase (WrapperBasePrivate *impl, Stage::pointer &&child=Stage::pointer())

Protected Member Functions inherited from moveit::task_constructor::ParallelContainerBase
	ParallelContainerBase (ParallelContainerBasePrivate *impl)

void	liftSolution (const SolutionBase &solution)
	lift unmodified child solution (useful for simple filtering)

void	liftSolution (const SolutionBase &solution, double cost)
	lift child solution to external interface, adapting the costs

void	liftSolution (const SolutionBase &solution, double cost, std::string comment)
	lift child solution to external interface, adapting the costs and comment

void	spawn (InterfaceState &&state, SubTrajectory &&trajectory)
	spawn a new solution with given state as start and end

void	sendForward (const InterfaceState &from, InterfaceState &&to, SubTrajectory &&trajectory)
	propagate a solution forwards

void	sendBackward (InterfaceState &&from, const InterfaceState &to, SubTrajectory &&trajectory)
	propagate a solution backwards

Protected Member Functions inherited from moveit::task_constructor::ContainerBase
	ContainerBase (ContainerBasePrivate *impl)

Protected Member Functions inherited from moveit::task_constructor::Stage
	Stage (StagePrivate *impl)
	Stage can only be instantiated through derived classes.

	Stage (const Stage &)=delete
	Stage cannot be copied.

Detailed Description

Wrapper for any pose generator stage to compute IK poses for a Cartesian pose.

The wrapper reads a target_pose from the interface state of solutions provided by the wrapped stage. This Cartesian pose (PoseStamped msg) is used as a goal pose for inverse kinematics.

Usually, the end effector's parent link or the group's tip link is used as the IK frame, which should be moved to the goal frame. However, any other IK frame can be defined (which is linked to the tip of the group).

Properties of the internally received InterfaceState can be forwarded to the newly generated, externally exposed InterfaceState.

Member Function Documentation

◆ setTargetPose()

void moveit::task_constructor::stages::ComputeIK::setTargetPose ( const geometry_msgs::PoseStamped & pose )

inline

setters for target pose property

This property should almost always be set in the InterfaceState sent by the child. If possible, avoid setting it manually.

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

/__w/moveit_task_constructor/moveit_task_constructor/core/include/moveit/task_constructor/stages/compute_ik.h
/__w/moveit_task_constructor/moveit_task_constructor/core/src/stages/compute_ik.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ setTargetPose()