Structure containing the data required to solve inverse kinematics. More...

#include <kinematic_group.h>

Collaboration diagram for tesseract_kinematics::KinGroupIKInput:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	KinGroupIKInput (const Eigen::Isometry3d &p, std::string wf, std::string tl)

	KinGroupIKInput ()=default

Public Attributes
Eigen::Isometry3d	pose
	The desired inverse kinematic pose. More...

std::string	working_frame
	The link name the pose is relative to. More...

std::string	tip_link_name
	The tip link of the kinematic object to solve IK. More...

Detailed Description

Structure containing the data required to solve inverse kinematics.

This structure provides the ability to specify IK targets for arbitrary tool links and defined with respect to arbitrary reference frames. Under the hood, the KinematicGroup class will transform these poses appropriately into the correct working frame required by the inverse kinematics solver. This improves the flexibility and ease-of-use of this class for performing IK

Constructor & Destructor Documentation

◆ KinGroupIKInput() [1/2]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW tesseract_kinematics::KinGroupIKInput::KinGroupIKInput	(	const Eigen::Isometry3d &	p,
		std::string	wf,
		std::string	tl
	)

inline

◆ KinGroupIKInput() [2/2]

tesseract_kinematics::KinGroupIKInput::KinGroupIKInput ( )

default

Member Data Documentation

◆ pose

Eigen::Isometry3d tesseract_kinematics::KinGroupIKInput::pose

The desired inverse kinematic pose.

◆ tip_link_name

std::string tesseract_kinematics::KinGroupIKInput::tip_link_name

The tip link of the kinematic object to solve IK.

The provided tip link name must be listed in InverseKinematics::getTipLinkNames()

◆ working_frame

std::string tesseract_kinematics::KinGroupIKInput::working_frame

The link name the pose is relative to.

The provided working frame must be listed in InverseKinematics::getWorkingFrames()

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

tesseract_kinematics/core/include/tesseract_kinematics/core/kinematic_group.h

Public Member Functions

Public Attributes