Tesseract
Motion Planning Environment
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Public Member Functions | List of all members
tesseract_kinematics::iiwa7Kinematics Class Reference

#include <iiwa7_ikfast_kinematics.h>

Inheritance diagram for tesseract_kinematics::iiwa7Kinematics:
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Collaboration diagram for tesseract_kinematics::iiwa7Kinematics:
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Public Member Functions

 iiwa7Kinematics ()=default
 
 iiwa7Kinematics (std::string base_link_name, std::string tip_link_name, std::vector< std::string > joint_names, std::string solver_name="IKFastInvKin", std::vector< std::vector< double > > free_joint_combos={ { 0.0 } })
 
- Public Member Functions inherited from tesseract_kinematics::IKFastInvKin
 ~IKFastInvKin () override=default
 
 IKFastInvKin (const IKFastInvKin &other)
 
IKFastInvKinoperator= (const IKFastInvKin &other)
 
 IKFastInvKin (IKFastInvKin &&)=default
 
IKFastInvKinoperator= (IKFastInvKin &&)=default
 
 IKFastInvKin (std::string base_link_name, std::string tip_link_name, std::vector< std::string > joint_names, std::vector< Eigen::Index > redundancy_capable_joints, std::string solver_name=IKFAST_INV_KIN_CHAIN_SOLVER_NAME, std::vector< std::vector< double > > free_joint_states={})
 Construct IKFast Inverse Kinematics. More...
 
IKSolutions calcInvKin (const tesseract_common::TransformMap &tip_link_poses, const Eigen::Ref< const Eigen::VectorXd > &seed) const override
 Calculates joint solutions given a pose for each tip link. More...
 
Eigen::Index numJoints () const override
 Number of joints in robot. More...
 
std::vector< std::string > getJointNames () const override
 Get list of joint names for kinematic object. More...
 
std::string getBaseLinkName () const override
 Get the robot base link name. More...
 
std::string getWorkingFrame () const override
 Get the inverse kinematics working frame. More...
 
std::vector< std::string > getTipLinkNames () const override
 Get the names of the tip links of the kinematics group. More...
 
std::string getSolverName () const override
 Get the name of the solver. Recommend using the name of the class. More...
 
InverseKinematics::UPtr clone () const override
 Clone the forward kinematics object. More...
 
- Public Member Functions inherited from tesseract_kinematics::InverseKinematics
 InverseKinematics ()=default
 
virtual ~InverseKinematics ()=default
 
 InverseKinematics (const InverseKinematics &)=default
 
InverseKinematicsoperator= (const InverseKinematics &)=default
 
 InverseKinematics (InverseKinematics &&)=default
 
InverseKinematicsoperator= (InverseKinematics &&)=default
 
virtual IKSolutions calcInvKin (const tesseract_common::TransformMap &tip_link_poses, const Eigen::Ref< const Eigen::VectorXd > &seed) const =0
 Calculates joint solutions given a pose for each tip link. More...
 
virtual std::vector< std::string > getJointNames () const =0
 Get list of joint names for kinematic object. More...
 
virtual Eigen::Index numJoints () const =0
 Number of joints in robot. More...
 
virtual std::string getBaseLinkName () const =0
 Get the robot base link name. More...
 
virtual std::string getWorkingFrame () const =0
 Get the inverse kinematics working frame. More...
 
virtual std::vector< std::string > getTipLinkNames () const =0
 Get the names of the tip links of the kinematics group. More...
 
virtual std::string getSolverName () const =0
 Get the name of the solver. Recommend using the name of the class. More...
 
virtual InverseKinematics::UPtr clone () const =0
 Clone the forward kinematics object. More...
 

Additional Inherited Members

- Public Types inherited from tesseract_kinematics::IKFastInvKin
using Ptr = std::shared_ptr< IKFastInvKin >
 
using ConstPtr = std::shared_ptr< const IKFastInvKin >
 
using UPtr = std::unique_ptr< IKFastInvKin >
 
using ConstUPtr = std::unique_ptr< const IKFastInvKin >
 
- Public Types inherited from tesseract_kinematics::InverseKinematics
using Ptr = std::shared_ptr< InverseKinematics >
 
using ConstPtr = std::shared_ptr< const InverseKinematics >
 
using UPtr = std::unique_ptr< InverseKinematics >
 
using ConstUPtr = std::unique_ptr< const InverseKinematics >
 
- Static Public Member Functions inherited from tesseract_kinematics::IKFastInvKin
static std::vector< std::vector< double > > generateAllFreeJointStateCombinations (const std::vector< std::vector< double > > &free_joint_samples)
 Generates all possible combinations of joint states and stores it to the free_joint_states_ class member Example: Given 2 free joints, wanting to sample the first joint at 0, 1, and 2 and the second joint at 3 and 4 the input would be [[0, 1, 2][3,4]] and it would generate [[0,3][0,4][1,3][1,4][2,3][2,4]]. More...
 
- Protected Attributes inherited from tesseract_kinematics::IKFastInvKin
std::string base_link_name_
 Link name of first link in the kinematic object. More...
 
std::string tip_link_name_
 Link name of last kink in the kinematic object. More...
 
std::vector< std::string > joint_names_
 Joint names for the kinematic object. More...
 
std::vector< Eigen::Index > redundancy_capable_joints_
 
std::string solver_name_ { IKFAST_INV_KIN_CHAIN_SOLVER_NAME }
 Redundancy capable joints. More...
 
std::vector< std::vector< double > > free_joint_states_
 

Constructor & Destructor Documentation

◆ iiwa7Kinematics() [1/2]

tesseract_kinematics::iiwa7Kinematics::iiwa7Kinematics ( )
default

◆ iiwa7Kinematics() [2/2]

tesseract_kinematics::iiwa7Kinematics::iiwa7Kinematics ( std::string  base_link_name,
std::string  tip_link_name,
std::vector< std::string >  joint_names,
std::string  solver_name = "IKFastInvKin",
std::vector< std::vector< double > >  free_joint_combos = { { 0.0 } } 
)

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