Tesseract
Motion Planning Environment
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rop_factory.h
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1
26#ifndef TESSERACT_KINEMATICS_ROP_FACTORY_H
27#define TESSERACT_KINEMATICS_ROP_FACTORY_H
28
30
32{
34{
35 InverseKinematics::UPtr create(const std::string& solver_name,
38 const KinematicsPluginFactory& plugin_factory,
39 const YAML::Node& config) const override final;
40};
41
42TESSERACT_PLUGIN_ANCHOR_DECL(ROPInvKinFactoriesAnchor)
43
44} // namespace tesseract_kinematics
45
46#endif // TESSERACT_KINEMATICS_ROP_FACTORY_H
#define TESSERACT_PLUGIN_ANCHOR_DECL(ANCHOR_NAME)
Definition: class_loader.h:124
Define a inverse kinematics plugin which the factory can create an instance.
Definition: kinematics_plugin_factory.h:59
std::unique_ptr< InverseKinematics > UPtr
Definition: inverse_kinematics.h:55
Definition: kinematics_plugin_factory.h:114
Definition: rop_factory.h:34
InverseKinematics::UPtr create(const std::string &solver_name, const tesseract_scene_graph::SceneGraph &scene_graph, const tesseract_scene_graph::SceneState &scene_state, const KinematicsPluginFactory &plugin_factory, const YAML::Node &config) const override final
Create Inverse Kinematics Object.
Definition: rop_factory.cpp:32
Definition: graph.h:125
tesseract_collision::CollisionCheckConfig config(5, request, tesseract_collision::CollisionEvaluatorType::LVS_DISCRETE, 0.5)
Definition: tesseract_common_serialization_unit.cpp:154
auto scene_graph
Definition: ikfast_kinematics_7dof_unit.cpp:51
tesseract_scene_graph::SceneState scene_state
Definition: kinematics_factory_unit.cpp:265
Kinematics Plugin Factory.
Definition: forward_kinematics.h:44
This holds a state of the scene.
Definition: scene_state.h:54