cob3_arm_kinematics::IKFastKinematicsPlugin Class Reference

List of all members.

Public Member Functions
void	fillFreeParams (int count, int *array)
std::string	getBaseFrame ()
std::vector< std::string >	getJointNames ()
std::vector< std::string >	getLinkNames ()
bool	getPositionFK (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::Pose > &poses)
bool	getPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, std::vector< double > &solution, int &error_code)
std::string	getToolFrame ()
	IKFastKinematicsPlugin ()
bool	initialize (std::string name)
bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, const double &timeout, std::vector< double > &solution, const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &desired_pose_callback, const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &solution_callback, int &error_code)
bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, const double &timeout, std::vector< double > &solution, int &error_code)
	~IKFastKinematicsPlugin ()
Private Attributes
std::vector< int >	freeParams
ik_solver_base *	ik_solver
boost::shared_ptr < KDL::ChainFkSolverPos_recursive >	jnt_to_pose_solver
std::vector< double >	jointMax
std::vector< double >	jointMin
std::vector< std::string >	joints
KDL::Chain	kdl_chain
std::map< std::string, size_t >	link2index
std::vector< std::string >	links
size_t	numJoints
std::string	root_name
std::string	tip_name

Detailed Description

Definition at line 86 of file ikfast_kinematics_plugin.cpp.

Constructor & Destructor Documentation

cob3_arm_kinematics::IKFastKinematicsPlugin::IKFastKinematicsPlugin ( ) [inline]

Definition at line 102 of file ikfast_kinematics_plugin.cpp.

cob3_arm_kinematics::IKFastKinematicsPlugin::~IKFastKinematicsPlugin ( ) [inline]

Definition at line 103 of file ikfast_kinematics_plugin.cpp.

Member Function Documentation

void cob3_arm_kinematics::IKFastKinematicsPlugin::fillFreeParams	(	int	count,
		int *	array
	)			`[inline]`

Definition at line 105 of file ikfast_kinematics_plugin.cpp.

std::string cob3_arm_kinematics::IKFastKinematicsPlugin::getBaseFrame ( ) [inline]

Definition at line 369 of file ikfast_kinematics_plugin.cpp.

std::vector<std::string> cob3_arm_kinematics::IKFastKinematicsPlugin::getJointNames ( ) [inline]

Definition at line 373 of file ikfast_kinematics_plugin.cpp.

std::vector<std::string> cob3_arm_kinematics::IKFastKinematicsPlugin::getLinkNames ( ) [inline]

Definition at line 375 of file ikfast_kinematics_plugin.cpp.

bool cob3_arm_kinematics::IKFastKinematicsPlugin::getPositionFK	(	const std::vector< std::string > &	link_names,
		const std::vector< double > &	joint_angles,
		std::vector< geometry_msgs::Pose > &	poses
	)			`[inline]`

Definition at line 336 of file ikfast_kinematics_plugin.cpp.

bool cob3_arm_kinematics::IKFastKinematicsPlugin::getPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution,
		int &	error_code
	)			`[inline]`

Definition at line 193 of file ikfast_kinematics_plugin.cpp.

std::string cob3_arm_kinematics::IKFastKinematicsPlugin::getToolFrame ( ) [inline]

Definition at line 371 of file ikfast_kinematics_plugin.cpp.

bool cob3_arm_kinematics::IKFastKinematicsPlugin::initialize ( std::string name ) [inline]

Definition at line 107 of file ikfast_kinematics_plugin.cpp.

bool cob3_arm_kinematics::IKFastKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		const double &	timeout,
		std::vector< double > &	solution,
		const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &	desired_pose_callback,
		const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &	solution_callback,
		int &	error_code
	)			`[inline]`

Definition at line 267 of file ikfast_kinematics_plugin.cpp.

bool cob3_arm_kinematics::IKFastKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		const double &	timeout,
		std::vector< double > &	solution,
		int &	error_code
	)			`[inline]`