#include <abb_irb2400_ikfast_kinematics.h>

Inheritance diagram for tesseract_kinematics::AbbIRB2400Kinematics:

Collaboration diagram for tesseract_kinematics::AbbIRB2400Kinematics:

[legend]

Public Member Functions
	AbbIRB2400Kinematics ()=default

	AbbIRB2400Kinematics (std::string base_link_name, std::string tip_link_name, std::vector< std::string > joint_names)

Public Member Functions inherited from tesseract_kinematics::IKFastInvKin
	~IKFastInvKin () override=default

	IKFastInvKin (const IKFastInvKin &other)

IKFastInvKin &	operator= (const IKFastInvKin &other)

	IKFastInvKin (IKFastInvKin &&)=default

IKFastInvKin &	operator= (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

InverseKinematics &	operator= (const InverseKinematics &)=default

	InverseKinematics (InverseKinematics &&)=default

InverseKinematics &	operator= (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

◆ AbbIRB2400Kinematics() [1/2]

tesseract_kinematics::AbbIRB2400Kinematics::AbbIRB2400Kinematics ( )

default

◆ AbbIRB2400Kinematics() [2/2]

tesseract_kinematics::AbbIRB2400Kinematics::AbbIRB2400Kinematics	(	std::string	base_link_name,
		std::string	tip_link_name,
		std::vector< std::string >	joint_names
	)

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

tesseract_kinematics/test/abb_irb2400_ikfast_kinematics.h
tesseract_kinematics/test/abb_irb2400_ikfast_kinematics.cpp

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ AbbIRB2400Kinematics() [1/2]

◆ AbbIRB2400Kinematics() [2/2]