roboplan_ros_py.kinematics
==========================

.. py:module:: roboplan_ros_py.kinematics


Classes
-------

.. autoapisummary::

   roboplan_ros_py.kinematics.RoboPlanIK


Module Contents
---------------

.. py:class:: RoboPlanIK(scene, group_name, base_frame, tip_frame, options)

   IK solver wrapper for roboplan Scene objects with ROS message support.

   This class provides methods to solve IK given ROS Pose messages and
   returns results as JointState messages or numpy arrays.

   Construct an IK solver.

   A thin wrapper around the RoboPlan SimpleIK class that manages joint states and group
   indices. Callers can expect to use the full set of joint states for the Scene.

   :param scene: RoboPlan Scene object.
   :param group_name: Name of the joint group to use.
   :param base_frame: Base frame for IK.
   :param tip_frame: End effector/tip frame for IK.
   :param options: Options for the IK solver.


   .. py:attribute:: scene


   .. py:attribute:: group_name


   .. py:attribute:: base_frame


   .. py:attribute:: tip_frame


   .. py:attribute:: options


   .. py:attribute:: _ik_solver


   .. py:attribute:: _start


   .. py:attribute:: _goal


   .. py:attribute:: joint_group_info_


   .. py:attribute:: _q_indices


   .. py:method:: solve_ik(target_transform, seed_state = None)

      Solve IK for a target transform.

      :param target_transform: A pin.SE3 4x4 transformation matrix.
      :param seed_state: Optional seed joint positions, defaults to current pose.

      :returns: A set of joint positions for the desired pose, or else None.