robowflex::Robot::IKQuery Struct Reference

Robot IK Query options. IK queries in Robowflex consist of: a) A position specified by some geometric region (a robowflex::Geometry) at a pose. b) An orientation specified by some base orientation with allowable deviations specified by tolerances on the XYZ Euler axes. It is recommended to use the provided constructors to specify a query, or to use the addRequest() function. Multiple target tips can be specified, but note that not all kinematics solvers support multi-tip IK. Additionally, a robowflex::Scene can be specified to do collision-aware IK. More...

#include <robot.h>

Public Types
using	Metric = std::function< double(const robot_state::RobotState &state, const SceneConstPtr &scene, const kinematic_constraints::ConstraintEvaluationResult &result)>
	Metric for evaluating states within an IK query. More...

Public Member Functions
	IKQuery (const std::string &group)
	Constructor. Empty for fine control. More...
Directional Offset Constructors
	IKQuery (const std::string &group, const std::string &tip, const robot_state::RobotState &start, const Eigen::Vector3d &direction, double distance)
	Constructor. Initialize an IK query based on offsets from an initial robot state. More...
	IKQuery (const std::string &group, const std::string &tip, const robot_state::RobotState &start, const Eigen::Vector3d &position_offset, const Eigen::Quaterniond &rotation_offset=Eigen::Quaterniond::Identity())
	Constructor. Initialize an IK query based on offsets from an initial robot state. More...
	IKQuery (const std::string &group, const std::string &tip, const robot_state::RobotState &start, const RobotPose &offset)
	Constructor. Initialize an IK query based on an offset from an initial robot state. Only for single-tip systems. More...
Single Target Constructors
	IKQuery (const std::string &group, const RobotPose &pose, double radius=constants::ik_tolerance, const Eigen::Vector3d &tolerance=constants::ik_vec_tolerance)
	Constructor. Initialize a basic IK query to reach the desired pose. More...
	IKQuery (const std::string &group, const Eigen::Vector3d &position, const Eigen::Quaterniond &orientation, double radius=constants::ik_tolerance, const Eigen::Vector3d &tolerance=constants::ik_vec_tolerance)
	Constructor. Initialize a basic IK query to reach the desired position and orientation. More...
	IKQuery (const std::string &group, const GeometryConstPtr &region, const RobotPose &pose, const Eigen::Quaterniond &orientation, const Eigen::Vector3d &tolerance=constants::ik_vec_tolerance, const ScenePtr &scene=nullptr, bool verbose=false)
	Constructor. Initialize an IK query to reach somewhere in the provided region (at a pose) and orientation. More...
	IKQuery (const std::string &group, const RobotPose &offset, const ScenePtr &scene, const std::string &object, const Eigen::Vector3d &tolerances=constants::ik_vec_tolerance, bool verbose=false)
	IKQuery (const std::string &group, const moveit_msgs::PositionConstraint &pc, const moveit_msgs::OrientationConstraint &oc)
	Constructor. Initialize an IK query from MoveIt message constraints. More...
Multiple Target Constructors
	IKQuery (const std::string &group, const RobotPoseVector &poses, const std::vector< std::string > &input_tips, double radius=constants::ik_tolerance, const Eigen::Vector3d &tolerance=constants::ik_vec_tolerance, const ScenePtr &scene=nullptr, bool verbose=false)
	Constructor. Initialize a basic multi-target IK query so that each of the tips reach their desired poses. More...
	IKQuery (const std::string &group, const std::vector< std::string > &input_tips, const std::vector< GeometryConstPtr > &regions, const RobotPoseVector &poses, const std::vector< Eigen::Quaterniond > &orientations, const EigenSTL::vector_Vector3d &tolerances, const ScenePtr &scene=nullptr, bool verbose=false)
Other Setters
void	addRequest (const std::string &tip, const GeometryConstPtr &region, const RobotPose &pose, const Eigen::Quaterniond &orientation, const Eigen::Vector3d &tolerance=constants::ik_vec_tolerance)
	Add a request for a tip. More...
void	setScene (const ScenePtr &scene, bool verbose=false)
	Set a scene to use for collision checking for this IK request. More...
void	addMetric (const Metric &metric_function)
	Add a metric to this IK query. More...
void	addDistanceMetric (double weight=1.)
	Add a metric to the query to evaluate distance to constraint. More...
void	addCenteringMetric (double weight=1.)
	Add a metric to the query to evaluate how "centered" the joints of the robot are (from their 0 position). More...
void	addClearanceMetric (double weight=1.)
	Add a metric to the query to evaluate clearance from provided scene. More...
Sampling Region
bool	sampleRegion (RobotPose &pose, std::size_t index) const
	Sample desired end-effector pose for region at index. More...
bool	sampleRegions (RobotPoseVector &poses) const
	Sample desired end-effector pose for each region. More...
Other Functions
void	getMessage (const std::string &base_frame, moveit_msgs::Constraints &msg) const
	Get this IK query as a constraint message. More...
kinematic_constraints::KinematicConstraintSetPtr	getAsConstraints (const Robot &robot) const
	Get this IK query as a kinematic constraint set. More...
double	getMetricValue (const robot_state::RobotState &state, const kinematic_constraints::ConstraintEvaluationResult &result) const
	Get the value of the metrics assigned to this query for a given state and result. More...

Public Attributes
	ROBOWFLEX_EIGEN
Query Targets
std::string	group
	Target joint group to do IK for. More...
std::vector< std::string >	tips
	List of end-effectors. More...
std::vector< GeometryConstPtr >	regions
	Regions to sample target positions from. More...
RobotPoseVector	region_poses
	Poses of regions. More...
std::vector< Eigen::Quaterniond >	orientations
	Target orientations. More...
EigenSTL::vector_Vector3d	tolerances
	XYZ Euler orientation tolerances. More...
Additional Solver Options
SceneConstPtr	scene
	If provided, use this scene for collision checking. More...
bool	verbose {false}
	Verbose output of collision checking. More...
bool	random_restart {true}
	Randomly reset joint states. More...
kinematics::KinematicsQueryOptions	options
	Other query options. More...
std::size_t	attempts {constants::ik_attempts}
	IK attempts (samples within regions). More...
double	timeout {0.}
	Timeout for each query. More...
bool	validate {false}
double	valid_distance {0.}
std::vector< Metric >	metrics

Detailed Description

Robot IK Query options. IK queries in Robowflex consist of: a) A position specified by some geometric region (a robowflex::Geometry) at a pose. b) An orientation specified by some base orientation with allowable deviations specified by tolerances on the XYZ Euler axes. It is recommended to use the provided constructors to specify a query, or to use the addRequest() function. Multiple target tips can be specified, but note that not all kinematics solvers support multi-tip IK. Additionally, a robowflex::Scene can be specified to do collision-aware IK.

Definition at line 374 of file robowflex_library/include/robowflex_library/robot.h.

Member Typedef Documentation

Metric

using robowflex::Robot::IKQuery::Metric = std::function<double(const robot_state::RobotState &state, const SceneConstPtr &scene, const kinematic_constraints::ConstraintEvaluationResult &result)>

Metric for evaluating states within an IK query.

Parameters

[in]	state	Resulting state from query.
[in]	scene	Input scene for query, if available. Nullptr otherwise.
[in]	result	Result of evaluating validity of constraint.

Returns

Value of the state.

Definition at line 384 of file robowflex_library/include/robowflex_library/robot.h.

Constructor & Destructor Documentation

IKQuery() [1/11]

Robot::IKQuery::IKQuery

(

const std::string &

group

)

Constructor. Empty for fine control.

Parameters

[in]

group

Group to set.

Definition at line 607 of file robowflex_library/src/robot.cpp.

                                            : group(group)
{
}

IKQuery() [2/11]

Robot::IKQuery::IKQuery	(	const std::string &	group,
		const std::string &	tip,
		const robot_state::RobotState &	start,
		const Eigen::Vector3d &	direction,
		double	distance
	)

Constructor. Initialize an IK query based on offsets from an initial robot state.

Parameters

[in]	group	Group to set.
[in]	tip	Tip frame to apply offset to.
[in]	start	Initial robot state to compute offset for.
[in]	direction	Vector direction of end-effector motion. Will be used as unit vector.
[in]	distance	Distance to travel in that direction.

Definition at line 611 of file robowflex_library/src/robot.cpp.

  : IKQuery(group, tip, start, distance * direction.normalized())
{
}

IKQuery() [3/11]

Robot::IKQuery::IKQuery	(	const std::string &	group,
		const std::string &	tip,
		const robot_state::RobotState &	start,
		const Eigen::Vector3d &	position_offset,
		const Eigen::Quaterniond &	rotation_offset = Eigen::Quaterniond::Identity()
	)

Constructor. Initialize an IK query based on offsets from an initial robot state.

Parameters

[in]	group	Group to set.
[in]	tip	Tip frame to apply offset to.
[in]	start	Initial robot state to compute offset for.
[in]	position_offset	Position offset to apply from current tip position.
[in]	rotation_offset	Rotational offset to apply from current tip position.

Definition at line 618 of file robowflex_library/src/robot.cpp.

  : IKQuery(group, tip, start, TF::createPoseQ(position_offset, rotation_offset))
{
}

IKQuery() [4/11]

Robot::IKQuery::IKQuery	(	const std::string &	group,
		const std::string &	tip,
		const robot_state::RobotState &	start,
		const RobotPose &	offset
	)

Constructor. Initialize an IK query based on an offset from an initial robot state. Only for single-tip systems.

Parameters

[in]	group	Group to set.
[in]	tip	Tip frame to apply offset to.
[in]	start	Initial robot state to compute offset for.
[in]	offset	Offset to apply from current tip position.

Definition at line 625 of file robowflex_library/src/robot.cpp.

  : IKQuery(group, start.getGlobalLinkTransform(tip) * offset)
{
}

IKQuery() [5/11]

Robot::IKQuery::IKQuery	(	const std::string &	group,
		const RobotPose &	pose,
		double	radius = constants::ik_tolerance,
		const Eigen::Vector3d &	tolerance = constants::ik_vec_tolerance
	)

Constructor. Initialize a basic IK query to reach the desired pose.

Parameters

[in]	group	Group to set.
[in]	pose	Desired pose of end-effector.
[in]	radius	Radius tolerance around position.
[in]	tolerances	Tolerance about orientation.

Definition at line 646 of file robowflex_library/src/robot.cpp.

  : IKQuery(group,                                //
            pose.translation(),                   //
            Eigen::Quaterniond{pose.rotation()},  //
            radius,                               //
            tolerance)
{
}

IKQuery() [6/11]

Robot::IKQuery::IKQuery	(	const std::string &	group,
		const Eigen::Vector3d &	position,
		const Eigen::Quaterniond &	orientation,
		double	radius = constants::ik_tolerance,
		const Eigen::Vector3d &	tolerance = constants::ik_vec_tolerance
	)

Constructor. Initialize a basic IK query to reach the desired position and orientation.

Parameters

[in]	group	Group to set.
[in]	position	Position to achieve.
[in]	orientation	Mean orientation.
[in]	radius	Radius tolerance around position.
[in]	tolerances	Tolerance about orientation.

Definition at line 656 of file robowflex_library/src/robot.cpp.

  : IKQuery(group,                         //
            Geometry::makeSphere(radius),  //
            TF::createPoseXYZ(position),   //
            orientation,                   //
            tolerance)
{
}

IKQuery() [7/11]

Robot::IKQuery::IKQuery	(	const std::string &	group,
		const GeometryConstPtr &	region,
		const RobotPose &	pose,
		const Eigen::Quaterniond &	orientation,
		const Eigen::Vector3d &	tolerance = constants::ik_vec_tolerance,
		const ScenePtr &	scene = nullptr,
		bool	verbose = false
	)

Constructor. Initialize an IK query to reach somewhere in the provided region (at a pose) and orientation.

Parameters

[in]	group	Group to set.
[in]	region	Region of points for position.
[in]	pose	Pose of the region.
[in]	orientation	Mean orientation.
[in]	tolerances	Tolerance about orientation.
[in]	scene	Optional scene to do collision checking against.
[in]	verbose	If true, will give verbose collision checking output.

Definition at line 667 of file robowflex_library/src/robot.cpp.

  : group(group), scene(scene), verbose(verbose)
{
    addRequest("", region, pose, orientation, tolerance);
}

IKQuery() [8/11]

Robot::IKQuery::IKQuery	(	const std::string &	group,
		const RobotPose &	offset,
		const ScenePtr &	scene,
		const std::string &	object,
		const Eigen::Vector3d &	tolerances = constants::ik_vec_tolerance,
		bool	verbose = false
	)

Constructor. Initialize a basic IK query to grasp an object.

Parameters

[in]	group	Group to set.
[in]	offset	Offset of end-effector from object frame.
[in]	scene	Scene that object is in.
[in]	object	Name of object to grasp.
[in]	tolerances	Position tolerances on the XYZ axes for the grasp.
[in]	verbose	If true, will give verbose collision checking output.

Definition at line 631 of file robowflex_library/src/robot.cpp.

  : group(group), scene(scene), verbose(verbose)
{
    const auto &pose = scene->getObjectGraspPose(object, offset);
    addRequest("",                                     //
               Geometry::makeBox(tolerances),          //
               TF::createPoseXYZ(pose.translation()),  //
               Eigen::Quaterniond(pose.rotation()));
}

IKQuery() [9/11]

Robot::IKQuery::IKQuery	(	const std::string &	group,
		const moveit_msgs::PositionConstraint &	pc,
		const moveit_msgs::OrientationConstraint &	oc
	)

Constructor. Initialize an IK query from MoveIt message constraints.

Parameters

[in]	group	Group to set.
[in]	pc	Position constraint.
[in]	oc	Orientation constraint.

Definition at line 675 of file robowflex_library/src/robot.cpp.

  : group(group)
{
    if (pc.link_name != oc.link_name)
        throw Exception(
            1, log::format("Link name mismatch in constraints, `%1%` != `%2%`", pc.link_name, oc.link_name));
 
    if (not TF::isVecZero(TF::vectorMsgToEigen(pc.target_point_offset)))
        throw Exception(1, "target_point_offset in position constraint not supported.");
 
    const auto &cr = pc.constraint_region;
 
    if (not cr.meshes.empty())
        throw Exception(1, "Cannot specify mesh regions!");
 
    if (cr.primitives.size() > 1)
        throw Exception(1, "Cannot specify more than one primitive!");
 
    const auto &region = Geometry::makeSolidPrimitive(cr.primitives[0]);
    const auto &pose = TF::poseMsgToEigen(cr.primitive_poses[0]);
 
    const auto &rotation = TF::quaternionMsgToEigen(oc.orientation);
    Eigen::Vector3d tolerance{oc.absolute_x_axis_tolerance,  //
                              oc.absolute_y_axis_tolerance,  //
                              oc.absolute_z_axis_tolerance};
 
    addRequest(pc.link_name, region, pose, rotation, tolerance);
}

IKQuery() [10/11]

Robot::IKQuery::IKQuery	(	const std::string &	group,
		const RobotPoseVector &	poses,
		const std::vector< std::string > &	input_tips,
		double	radius = constants::ik_tolerance,
		const Eigen::Vector3d &	tolerance = constants::ik_vec_tolerance,
		const ScenePtr &	scene = nullptr,
		bool	verbose = false
	)

Constructor. Initialize a basic multi-target IK query so that each of the tips reach their desired poses.

Parameters

[in]	group	Group to set.
[in]	poses	Desired poses of end-effector tips.
[in]	input_tips	End-effector tips to target.
[in]	radius	Radius tolerance around position.
[in]	tolerances	Tolerance about orientation.
[in]	scene	Optional scene to do collision checking against.
[in]	verbose	If true, will give verbose collision checking output.

Definition at line 705 of file robowflex_library/src/robot.cpp.

  : group(group), scene(scene), verbose(verbose)
{
    if (poses.size() != input_tips.size())
        throw Exception(1, "Invalid multi-target IK query. poses != tips.");
 
    for (std::size_t i = 0; i < poses.size(); ++i)
        addRequest(input_tips[i],                              //
                   Geometry::makeSphere(radius),               //
                   TF::createPoseXYZ(poses[i].translation()),  //
                   Eigen::Quaterniond{poses[i].rotation()},    //
                   tolerance);
}

IKQuery() [11/11]

Robot::IKQuery::IKQuery	(	const std::string &	group,
		const std::vector< std::string > &	input_tips,
		const std::vector< GeometryConstPtr > &	regions,
		const RobotPoseVector &	poses,
		const std::vector< Eigen::Quaterniond > &	orientations,
		const EigenSTL::vector_Vector3d &	tolerances,
		const ScenePtr &	scene = nullptr,
		bool	verbose = false
	)

Constructor. Initialize a multi-target IK query so that each of the tips reach somewhere in the provided region (at a pose) and orientation.

Parameters

[in]	group	Group to set.
[in]	input_tips	End-effector tips to target.
[in]	regions	Region of points for position for each tip.
[in]	poses	Pose of the region for each tip.
[in]	orientations	Mean orientation for each tip.
[in]	tolerances	Tolerance about orientation for each tip.
[in]	scene	Optional scene to do collision checking against.
[in]	verbose	If true, will give verbose collision checking output.

Definition at line 721 of file robowflex_library/src/robot.cpp.

  : group(group), scene(scene), verbose(verbose)
{
    if (poses.size() != input_tips.size()       //
        or poses.size() != regions.size()       //
        or poses.size() != orientations.size()  //
        or poses.size() != tolerances.size())
        throw Exception(1, "Invalid multi-target IK query. Vectors are of different length.");
 
    for (std::size_t i = 0; i < poses.size(); ++i)
        addRequest(input_tips[i], regions[i], poses[i], orientations[i], tolerances[i]);
}

Member Function Documentation

addCenteringMetric()

void Robot::IKQuery::addCenteringMetric

(

double

weight = 1.

)

Add a metric to the query to evaluate how "centered" the joints of the robot are (from their 0 position).

Parameters

[in]

weight

Multiplicative weight to metric value.

Definition at line 766 of file robowflex_library/src/robot.cpp.

{
    addMetric([&, weight](const robot_state::RobotState &state, const SceneConstPtr &scene,
                          const kinematic_constraints::ConstraintEvaluationResult &result) {
        const auto &jmg = state.getJointModelGroup(group);
        const auto &min = state.getMinDistanceToPositionBounds(jmg);
        double extent = min.second->getMaximumExtent() / 2.;
        return weight * (extent - min.first) / extent;
    });
}

addClearanceMetric()

void Robot::IKQuery::addClearanceMetric

(

double

weight = 1.

)

Add a metric to the query to evaluate clearance from provided scene.

Parameters

[in]

weight

Multiplicative weight to metric value.

Definition at line 777 of file robowflex_library/src/robot.cpp.

{
    addMetric([&, weight](const robot_state::RobotState &state, const SceneConstPtr &scene,
                          const kinematic_constraints::ConstraintEvaluationResult &result) {
        if (scene)
        {
            double v = scene->distanceToCollision(state);
            return weight * v;
        }
 
        return 0.;
    });
}

addDistanceMetric()

void Robot::IKQuery::addDistanceMetric

(

double

weight = 1.

)

Add a metric to the query to evaluate distance to constraint.

Parameters

[in]

weight

Multiplicative weight to metric value.

Definition at line 758 of file robowflex_library/src/robot.cpp.

{
    addMetric([weight](const robot_state::RobotState &state, const SceneConstPtr &scene,
                       const kinematic_constraints::ConstraintEvaluationResult &result) {
        return weight * result.distance;
    });
}

addMetric()

void Robot::IKQuery::addMetric

(

const Metric &

metric_function

)

Add a metric to this IK query.

Parameters

[in]

metric_function

Metric to add to query.

Definition at line 753 of file robowflex_library/src/robot.cpp.

{
    metrics.emplace_back(metric_function);
}

addRequest()

void Robot::IKQuery::addRequest	(	const std::string &	tip,
		const GeometryConstPtr &	region,
		const RobotPose &	pose,
		const Eigen::Quaterniond &	orientation,
		const Eigen::Vector3d &	tolerance = constants::ik_vec_tolerance
	)

Add a request for a tip.

Parameters

[in]	tip	Tip for the request.
[in]	region	Region of points for position.
[in]	pose	Pose of the region.
[in]	orientation	Mean orientation.
[in]	tolerances	Tolerance about orientation.

Definition at line 737 of file robowflex_library/src/robot.cpp.

{
    tips.emplace_back(tip);
    regions.emplace_back(region);
    region_poses.emplace_back(pose);
    orientations.emplace_back(orientation);
    tolerances.emplace_back(tolerance);
}

getAsConstraints()

kinematic_constraints::KinematicConstraintSetPtr Robot::IKQuery::getAsConstraints

(

const Robot &

robot

)

const

Get this IK query as a kinematic constraint set.

Parameters

[in]

robot

Robot this IK query is for.

Returns

The IK query as a set of kinematic constraints.

Definition at line 834 of file robowflex_library/src/robot.cpp.

{
    moveit_msgs::Constraints msg;
    const auto &root = robot.getModelConst()->getRootLink()->getName();
    getMessage(root, msg);
 
    auto constraints = std::make_shared<kinematic_constraints::KinematicConstraintSet>(robot.getModelConst());
    moveit::core::Transforms none(root);
 
    constraints->add(msg, none);
 
    return constraints;
}

getMessage()

void Robot::IKQuery::getMessage	(	const std::string &	base_frame,
		moveit_msgs::Constraints &	msg
	)		const

Get this IK query as a constraint message.

Parameters

[in]	base_frame	Base frame of the IK solver used. Can be obtained with Robot::getSolverBaseFrame().
[out]	msg	Message to fill.

Definition at line 816 of file robowflex_library/src/robot.cpp.

{
    const std::size_t n = regions.size();
 
    msg.name = "IKQuery";
 
    for (std::size_t i = 0; i < n; ++i)
    {
        auto pos = TF::getPositionConstraint(tips[i], base_frame, region_poses[i], regions[i]);
        auto orn = TF::getOrientationConstraint(tips[i], base_frame, orientations[i], tolerances[i]);
        pos.weight = 1. / n;
        orn.weight = 1. / n / 2.;
 
        msg.position_constraints.emplace_back(pos);
        msg.orientation_constraints.emplace_back(orn);
    }
}

getMetricValue()

double Robot::IKQuery::getMetricValue	(	const robot_state::RobotState &	state,
		const kinematic_constraints::ConstraintEvaluationResult &	result
	)		const

Get the value of the metrics assigned to this query for a given state and result.

Parameters

[in]	state	The state to evaluate.
[in]	result	The result of evaluating this state against the kinematic constraint set.

Returns

The value of the metric functions, summed.

Definition at line 848 of file robowflex_library/src/robot.cpp.

{
    double v = 0.;
    for (const auto &metric : metrics)
        v += metric(state, scene, result);
 
    return v;
}

sampleRegion()

bool Robot::IKQuery::sampleRegion	(	RobotPose &	pose,
		std::size_t	index
	)		const

Sample desired end-effector pose for region at index.

Parameters

[out]	pose	The sampled pose.
[in]	index	The index of the region to sample.

Returns

True on success, false on failure.

Definition at line 791 of file robowflex_library/src/robot.cpp.

{
    const auto &point = regions[index]->sample();
    if (point.first)
    {
        pose = region_poses[index];
        pose.translate(point.second);
        pose.rotate(TF::sampleOrientation(orientations[index], tolerances[index]));
    }
 
    return point.first;
}

sampleRegions()

bool Robot::IKQuery::sampleRegions

(

RobotPoseVector &

poses

)

const

Sample desired end-effector pose for each region.

Parameters

[out]

poses

The sampled poses.

Returns

True on success, false on failure.

Definition at line 804 of file robowflex_library/src/robot.cpp.

{
    const std::size_t n = regions.size();
    poses.resize(n);
 
    bool sampled = true;
    for (std::size_t j = 0; j < n and sampled; ++j)
        sampled &= sampleRegion(poses[j], j);
 
    return sampled;
}

setScene()

void Robot::IKQuery::setScene	(	const ScenePtr &	scene,
		bool	verbose = false
	)

Set a scene to use for collision checking for this IK request.

Parameters

[in]	scene	Scene to check collision against.
[in]	verbose	If true, will output verbose collision checking output.

Definition at line 747 of file robowflex_library/src/robot.cpp.

{
    scene = scene_in;
    verbose = verbose_in;
}

Member Data Documentation

attempts

std::size_t robowflex::Robot::IKQuery::attempts {constants::ik_attempts}

IK attempts (samples within regions).

Definition at line 407 of file robowflex_library/include/robowflex_library/robot.h.

group

std::string robowflex::Robot::IKQuery::group

Target joint group to do IK for.

Definition at line 391 of file robowflex_library/include/robowflex_library/robot.h.

metrics

std::vector<Metric> robowflex::Robot::IKQuery::metrics

Metrics used to evaluate configurations. If metrics are added, solver will use all allotted resources to search for the best configuration. If there are multiple metrics, metric values will be added together.

Definition at line 415 of file robowflex_library/include/robowflex_library/robot.h.

options

kinematics::KinematicsQueryOptions robowflex::Robot::IKQuery::options

Other query options.

Definition at line 406 of file robowflex_library/include/robowflex_library/robot.h.

orientations

std::vector<Eigen::Quaterniond> robowflex::Robot::IKQuery::orientations

Target orientations.

Definition at line 395 of file robowflex_library/include/robowflex_library/robot.h.

random_restart

bool robowflex::Robot::IKQuery::random_restart {true}

Randomly reset joint states.

Definition at line 405 of file robowflex_library/include/robowflex_library/robot.h.

region_poses

RobotPoseVector robowflex::Robot::IKQuery::region_poses

Poses of regions.

Definition at line 394 of file robowflex_library/include/robowflex_library/robot.h.

regions

std::vector<GeometryConstPtr> robowflex::Robot::IKQuery::regions

Regions to sample target positions from.

Definition at line 393 of file robowflex_library/include/robowflex_library/robot.h.

ROBOWFLEX_EIGEN

robowflex::Robot::IKQuery::ROBOWFLEX_EIGEN

Definition at line 376 of file robowflex_library/include/robowflex_library/robot.h.

scene

SceneConstPtr robowflex::Robot::IKQuery::scene

If provided, use this scene for collision checking.

Definition at line 403 of file robowflex_library/include/robowflex_library/robot.h.

timeout

double robowflex::Robot::IKQuery::timeout {0.}

Timeout for each query.

Definition at line 408 of file robowflex_library/include/robowflex_library/robot.h.

tips

std::vector<std::string> robowflex::Robot::IKQuery::tips

List of end-effectors.

Definition at line 392 of file robowflex_library/include/robowflex_library/robot.h.

tolerances

EigenSTL::vector_Vector3d robowflex::Robot::IKQuery::tolerances

XYZ Euler orientation tolerances.

Definition at line 396 of file robowflex_library/include/robowflex_library/robot.h.

valid_distance

double robowflex::Robot::IKQuery::valid_distance {0.}

If positive and validate = true, will return success if result is within distance of kinematic constraint set.

Definition at line 412 of file robowflex_library/include/robowflex_library/robot.h.

validate

bool robowflex::Robot::IKQuery::validate {false}

If true, double check if result is valid and use this rather than validity reported by the solver.

Definition at line 410 of file robowflex_library/include/robowflex_library/robot.h.

verbose

bool robowflex::Robot::IKQuery::verbose {false}

Verbose output of collision checking.

Definition at line 404 of file robowflex_library/include/robowflex_library/robot.h.

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

• robowflex_library/include/robowflex_library/robot.h
• robowflex_library/src/robot.cpp