#include <ros/ros.h>#include <vector>#include <angles/angles.h>#include <Eigen/Array>#include <kdl/frames.hpp>#include <kdl/jntarray.hpp>#include "frames.hpp"#include "jacobian.hpp"#include "src/Core/util/DisableMSVCWarnings.h"#include "src/Core/util/Macros.h"#include <cerrno>#include <cstdlib>#include <cmath>#include <complex>#include <cassert>#include <functional>#include <iosfwd>#include <cstring>#include <string>#include <limits>#include <climits>#include <algorithm>#include "src/Core/util/Constants.h"#include "src/Core/util/ForwardDeclarations.h"#include "src/Core/util/Meta.h"#include "src/Core/util/XprHelper.h"#include "src/Core/util/StaticAssert.h"#include "src/Core/util/Memory.h"#include "src/Core/NumTraits.h"#include "src/Core/MathFunctions.h"#include "src/Core/GenericPacketMath.h"#include "src/Core/arch/Default/Settings.h"#include "src/Core/Functors.h"#include "src/Core/DenseCoeffsBase.h"#include "src/Core/DenseBase.h"#include "src/Core/MatrixBase.h"#include "src/Core/EigenBase.h"#include "src/Core/Assign.h"#include "src/Core/util/BlasUtil.h"#include "src/Core/DenseStorage.h"#include "src/Core/NestByValue.h"#include "src/Core/ForceAlignedAccess.h"#include "src/Core/ReturnByValue.h"#include "src/Core/NoAlias.h"#include "src/Core/PlainObjectBase.h"#include "src/Core/Matrix.h"#include "src/Core/Array.h"#include "src/Core/CwiseBinaryOp.h"#include "src/Core/CwiseUnaryOp.h"#include "src/Core/CwiseNullaryOp.h"#include "src/Core/CwiseUnaryView.h"#include "src/Core/SelfCwiseBinaryOp.h"#include "src/Core/Dot.h"#include "src/Core/StableNorm.h"#include "src/Core/MapBase.h"#include "src/Core/Stride.h"#include "src/Core/Map.h"#include "src/Core/Block.h"#include "src/Core/VectorBlock.h"#include "src/Core/Transpose.h"#include "src/Core/DiagonalMatrix.h"#include "src/Core/Diagonal.h"#include "src/Core/DiagonalProduct.h"#include "src/Core/PermutationMatrix.h"#include "src/Core/Transpositions.h"#include "src/Core/Redux.h"#include "src/Core/Visitor.h"#include "src/Core/Fuzzy.h"#include "src/Core/IO.h"#include "src/Core/Swap.h"#include "src/Core/CommaInitializer.h"#include "src/Core/Flagged.h"#include "src/Core/ProductBase.h"#include "src/Core/Product.h"#include "src/Core/TriangularMatrix.h"#include "src/Core/SelfAdjointView.h"#include "src/Core/SolveTriangular.h"#include "src/Core/products/Parallelizer.h"#include "src/Core/products/CoeffBasedProduct.h"#include "src/Core/products/GeneralBlockPanelKernel.h"#include "src/Core/products/GeneralMatrixVector.h"#include "src/Core/products/GeneralMatrixMatrix.h"#include "src/Core/products/GeneralMatrixMatrixTriangular.h"#include "src/Core/products/SelfadjointMatrixVector.h"#include "src/Core/products/SelfadjointMatrixMatrix.h"#include "src/Core/products/SelfadjointProduct.h"#include "src/Core/products/SelfadjointRank2Update.h"#include "src/Core/products/TriangularMatrixVector.h"#include "src/Core/products/TriangularMatrixMatrix.h"#include "src/Core/products/TriangularSolverMatrix.h"#include "src/Core/products/TriangularSolverVector.h"#include "src/Core/BandMatrix.h"#include "src/Core/BooleanRedux.h"#include "src/Core/Select.h"#include "src/Core/VectorwiseOp.h"#include "src/Core/Random.h"#include "src/Core/Replicate.h"#include "src/Core/Reverse.h"#include "src/Core/ArrayBase.h"#include "src/Core/ArrayWrapper.h"#include "src/Core/GlobalFunctions.h"#include "src/Core/util/EnableMSVCWarnings.h"
Go to the source code of this file.
Namespaces | |
| namespace | pr2_arm_kinematics |
Functions | |
| bool | pr2_arm_kinematics::checkConstraintAwareIKService (kinematics_msgs::GetConstraintAwarePositionIK::Request &request, kinematics_msgs::GetConstraintAwarePositionIK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| bool | pr2_arm_kinematics::checkFKService (kinematics_msgs::GetPositionFK::Request &request, kinematics_msgs::GetPositionFK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| bool | pr2_arm_kinematics::checkIKService (kinematics_msgs::GetPositionIK::Request &request, kinematics_msgs::GetPositionIK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| bool | pr2_arm_kinematics::checkJointNames (const std::vector< std::string > &joint_names, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| bool | pr2_arm_kinematics::checkLinkName (const std::string &link_name, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| bool | pr2_arm_kinematics::checkLinkNames (const std::vector< std::string > &link_names, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| bool | pr2_arm_kinematics::checkRobotState (motion_planning_msgs::RobotState &robot_state, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| double | pr2_arm_kinematics::computeEuclideanDistance (const std::vector< double > &array_1, const KDL::JntArray &array_2) |
| bool | pr2_arm_kinematics::convertPoseToRootFrame (const geometry_msgs::PoseStamped &pose_msg, geometry_msgs::PoseStamped &pose_msg_out, const std::string &root_frame, const tf::TransformListener &tf) |
| bool | pr2_arm_kinematics::convertPoseToRootFrame (const geometry_msgs::PoseStamped &pose_msg, KDL::Frame &pose_kdl, const std::string &root_frame, const tf::TransformListener &tf) |
| double | pr2_arm_kinematics::distance (const urdf::Pose &transform) |
| int | pr2_arm_kinematics::getJointIndex (const std::string &name, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| bool | pr2_arm_kinematics::getKDLChain (const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain) |
| void | pr2_arm_kinematics::getKDLChainInfo (const KDL::Chain &chain, kinematics_msgs::KinematicSolverInfo &chain_info) |
| int | pr2_arm_kinematics::getKDLSegmentIndex (const KDL::Chain &chain, const std::string &name) |
| bool | pr2_arm_kinematics::getKDLTree (const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Tree &kdl_chain) |
| Eigen::Matrix4f | pr2_arm_kinematics::KDLToEigenMatrix (const KDL::Frame &p) |
| bool | pr2_arm_kinematics::loadRobotModel (ros::NodeHandle node_handle, urdf::Model &robot_model, std::string &root_name, std::string &tip_name, std::string &xml_string) |
| Eigen::Matrix4f | pr2_arm_kinematics::matrixInverse (const Eigen::Matrix4f &g) |
| bool | pr2_arm_kinematics::solveCosineEqn (const double &a, const double &b, const double &c, double &soln1, double &soln2) |
| bool | pr2_arm_kinematics::solveQuadratic (const double &a, const double &b, const double &c, double *x1, double *x2) |