Add overload method for calcInvKin to take single KinGroupIKInput

tesseract_kinematics/core/include/tesseract_kinematics/core/kinematic_group.h

@@ -119,14 +119,23 @@ class KinematicGroup : public JointGroup
   /**
    * @brief Calculates joint solutions given a pose.
    * @details If redundant solutions are needed see utility function getRedundantSolutions.
-   * @param solutions A vector of solutions, so check the size of the vector to determine the number of solutions
    * @param tip_link_poses The input information to solve inverse kinematics for. There must be an input for each link
    * provided in getTipLinkNames
    * @param seed Vector of seed joint angles (size must match number of joints in robot chain)
    * @return A vector of solutions, If empty it failed to find a solution (including uninitialized)
    */
   IKSolutions calcInvKin(const KinGroupIKInputs& tip_link_poses, const Eigen::Ref<const Eigen::VectorXd>& seed) const;
 
+  /**
+   * @brief Calculates joint solutions given a pose.
+   * @details If redundant solutions are needed see utility function getRedundantSolutions.
+   * @param tip_link_pose The input information to solve inverse kinematics for. This is a convenience function for
+   * when only one tip link exists
+   * @param seed Vector of seed joint angles (size must match number of joints in robot chain)
+   * @return A vector of solutions, If empty it failed to find a solution (including uninitialized)
+   */
+  IKSolutions calcInvKin(const KinGroupIKInput& tip_link_pose, const Eigen::Ref<const Eigen::VectorXd>& seed) const;
+
   /** @brief Returns all possible working frames in which goal poses can be defined
    * @details The inverse kinematics solver requires that all poses be defined relative to a single working frame.
    * However if this working frame is static, a pose can be defined in another static frame in the environment and

tesseract_kinematics/core/src/kinematic_group.cpp

@@ -174,6 +174,12 @@ IKSolutions KinematicGroup::calcInvKin(const KinGroupIKInputs& tip_link_poses,
   return solutions_filtered;
 }
 
+IKSolutions KinematicGroup::calcInvKin(const KinGroupIKInput& tip_link_pose,
+                                       const Eigen::Ref<const Eigen::VectorXd>& seed) const
+{
+  return calcInvKin(KinGroupIKInputs{ tip_link_pose }, seed);
+}
+
 std::vector<std::string> KinematicGroup::getAllValidWorkingFrames() const { return working_frames_; }
 
 std::vector<std::string> KinematicGroup::getAllPossibleTipLinkNames() const