robot_kinematics_interface module
Copyright (c) 2018 Robert Bosch GmbH All rights reserved.
This source code is licensed under the BSD-3-Clause license found in the LICENSE file in the root directory of this source tree.
@author: Jan Behrens
This source code is derived from the dmp_gestures project (https://github.com/awesomebytes/dmp_gestures) Copyright (c) 2013, Willow Garage, Inc., licensed under the BSD license, cf. 3rd-party-licenses.txt file in the root directory of this source tree.
- class robot_kinematics_interface.ForwardKinematics[source]
Bases:
objectSimplified interface to ask for forward kinematics
- getCurrentFK(fk_link_names, frame_id='base_link')[source]
Get the forward kinematics of a set of links in the current configuration
- getFK(fk_link_names, joint_names, positions, frame_id='base_link')[source]
Get the forward kinematics of a joint configuration @fk_link_names list of string or string : list of links that we want to get the forward kinematics from @joint_names list of string : with the joint names to set a position to ask for the FK @positions list of double : with the position of the joints @frame_id string : the reference frame to be used
- class robot_kinematics_interface.InverseKinematics(ik_srv=None)[source]
Bases:
objectSimplified interface to ask for inverse kinematics
- getIK(group_name, ik_link_name, pose, avoid_collisions=True, robot_state=None, constraints=None, timeout=1)[source]
Get the inverse kinematics for a group with a link a in pose in 3d world. @group_name string group i.e. right_arm that will perform the IK @ik_link_name string link that will be in the pose given to evaluate the IK @pose PoseStamped that represents the pose (with frame_id!) of the link @avoid_collisions Bool if we want solutions with collision avoidance @attempts Int number of attempts to get an Ik as it can fail depending on what IK is being used @robot_state RobotState the robot state where to start searching IK from (optional, current pose will be used if ignored)