Define a inverse kinematics plugin which the factory can create an instance. More...

#include <kinematics_plugin_factory.h>

Inheritance diagram for tesseract_kinematics::InvKinFactory:

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Collaboration diagram for tesseract_kinematics::InvKinFactory:

Public Types
using	Ptr = std::shared_ptr< InvKinFactory >

using	ConstPtr = std::shared_ptr< const InvKinFactory >

Public Member Functions
virtual	~InvKinFactory ()=default

virtual 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 =0
	Create Inverse Kinematics Object. More...

Static Protected Attributes
static const std::string	SECTION_NAME = "InvKin"

Friends
class	PluginLoader

Detailed Description

Define a inverse kinematics plugin which the factory can create an instance.

Member Typedef Documentation

◆ ConstPtr

using tesseract_kinematics::InvKinFactory::ConstPtr = std::shared_ptr<const InvKinFactory>

◆ Ptr

using tesseract_kinematics::InvKinFactory::Ptr = std::shared_ptr<InvKinFactory>

Constructor & Destructor Documentation

◆ ~InvKinFactory()

virtual tesseract_kinematics::InvKinFactory::~InvKinFactory ( )

virtualdefault

Member Function Documentation

◆ create()

virtual InverseKinematics::UPtr tesseract_kinematics::InvKinFactory::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

pure virtual

Create Inverse Kinematics Object.

Parameters

solver_name	The solver name of the kinematic object
scene_graph	The Tesseract Scene Graph
scene_state	The state of the scene graph
plugin_factory	Provide access to the plugin factory so plugins and load plugins

Returns: If failed to create, nullptr is returned.

Implemented in tesseract_kinematics::REPInvKinFactory, tesseract_kinematics::ROPInvKinFactory, tesseract_kinematics::KDLInvKinChainLMAFactory, tesseract_kinematics::KDLInvKinChainNRFactory, tesseract_kinematics::OPWInvKinFactory, and tesseract_kinematics::URInvKinFactory.

Friends And Related Function Documentation

◆ PluginLoader

friend class PluginLoader

friend

Member Data Documentation

◆ SECTION_NAME

const std::string tesseract_kinematics::InvKinFactory::SECTION_NAME = "InvKin"

staticprotected

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

tesseract_kinematics/core/include/tesseract_kinematics/core/kinematics_plugin_factory.h
tesseract_kinematics/core/src/kinematics_plugin_factory.cpp

Public Types

Public Member Functions

Static Protected Attributes

Friends