Class DynupIK

Defined in File dynup_ik.hpp

Inheritance Relationships

Base Type

public bitbots_splines::AbstractIK< DynupResponse >

Class Documentation

class bitbots_dynup::DynupIK : public bitbots_splines::AbstractIK<DynupResponse>

Public Functions

explicit DynupIK(rclcpp::Node::SharedPtr node)

void init(moveit::core::RobotModelPtr kinematic_model) override

bitbots_splines::JointGoals calculate(const DynupResponse &ik_goals) override

void reset() override

void useStabilizing(bool use)

void setCurrentJointStates(sensor_msgs::msg::JointState::SharedPtr jointStates)

void setDirection(std::string direction)

moveit::core::RobotStatePtr get_goal_state()

Private Members

rclcpp::Node::SharedPtr node_

sensor_msgs::msg::JointState::SharedPtr current_joint_states_

moveit::core::JointModelGroup *all_joints_group_

moveit::core::JointModelGroup *l_arm_joints_group_

moveit::core::JointModelGroup *l_leg_joints_group_

moveit::core::JointModelGroup *r_arm_joints_group_

moveit::core::JointModelGroup *r_leg_joints_group_

moveit::core::RobotStatePtr goal_state_

bool use_stabilizing_ = false

bool use_minimal_displacement_ = false

std::string direction_