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 setDirection(DynupDirection direction)

moveit::core::RobotStatePtr get_goal_state()

void set_joint_positions(sensor_msgs::msg::JointState::ConstSharedPtr joint_state)

Private Members

rclcpp::Node::SharedPtr node_

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_

sensor_msgs::msg::JointState::ConstSharedPtr joint_state_

DynupDirection direction_