PikRos::Pik Class Reference

Prioritized inverse kinematics solver. More...

#include <PikRos.hpp>

Public Member Functions
	Pik (ros::NodeHandle &nh_, const std::string &robot_name, const std::string &joint_model_group_name, const Settings &settings=Settings())
	Construct a new Pik object. More...
Eigen::VectorXd	solve (const std::vector< IkTask > &ik_tasks, const Eigen::VectorXd &q_initial_guess)
	Solves a prioritized inverse kinematics problem. More...
void	goToJointPosition (const Eigen::VectorXd &q) const
	Moves the robot to desired joint positions. More...
void	printErrors (const Eigen::VectorXd &q, const std::vector< IkTask > &ik_tasks) const
	Prints task errors for a given joint position vector. More...

Detailed Description

Prioritized inverse kinematics solver.

Solves the positional inverse kinematics problem given a vector of Ik tasks with descending priorities

Constructor & Destructor Documentation

Pik()

Pik::Pik	(	ros::NodeHandle &	nh_,
		const std::string &	robot_name,
		const std::string &	joint_model_group_name,
		const Settings &	settings = Settings()
	)

Construct a new Pik object.

Parameters

nh_	ROS node handle
robot_name	Namespace for robot description
joint_model_group_name	Joint model group name in MoveIt
settings	PikRos::Settings object

Member Function Documentation

goToJointPosition()

void Pik::goToJointPosition

(

const Eigen::VectorXd &

q

)

const

Moves the robot to desired joint positions.

Parameters

q	Eigen::VectorXd Joint position vector

printErrors()

void Pik::printErrors	(	const Eigen::VectorXd &	q,
		const std::vector< IkTask > &	ik_tasks
	)		const

Prints task errors for a given joint position vector.

Parameters

q	Eigen::VectorXd Joint position vector
ik_tasks	std::vector<IkTask> Inverse kinematics tasks;

solve()

Eigen::VectorXd Pik::solve	(	const std::vector< IkTask > &	ik_tasks,
		const Eigen::VectorXd &	q_initial_guess
	)

Solves a prioritized inverse kinematics problem.

Parameters

ik_tasks	Ik tasks std::vector<IkTask> from higher priority to lower
q_initial_guess	Initial guess for a joint position vector q

Returns

Eigen::VectorXd solution joint positions

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

• include/PikRos.hpp
• src/PikRos.cpp