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pr2_arm_kinematics Namespace Reference

Classes

class  PR2ArmIK
class  PR2ArmIKSolver
class  PR2ArmKinematics
class  PR2ArmKinematicsPlugin

Functions

bool checkConstraintAwareIKService (kinematics_msgs::GetConstraintAwarePositionIK::Request &request, kinematics_msgs::GetConstraintAwarePositionIK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool checkFKService (kinematics_msgs::GetPositionFK::Request &request, kinematics_msgs::GetPositionFK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool checkIKService (kinematics_msgs::GetPositionIK::Request &request, kinematics_msgs::GetPositionIK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool checkJointNames (const std::vector< std::string > &joint_names, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool checkLinkName (const std::string &link_name, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool checkLinkNames (const std::vector< std::string > &link_names, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool checkRobotState (arm_navigation_msgs::RobotState &robot_state, const kinematics_msgs::KinematicSolverInfo &chain_info)
double computeEuclideanDistance (const std::vector< double > &array_1, const KDL::JntArray &array_2)
bool convertPoseToRootFrame (const geometry_msgs::PoseStamped &pose_msg, geometry_msgs::PoseStamped &pose_msg_out, const std::string &root_frame, tf::TransformListener &tf)
bool convertPoseToRootFrame (const geometry_msgs::PoseStamped &pose_msg, KDL::Frame &pose_kdl, const std::string &root_frame, tf::TransformListener &tf)
double distance (const urdf::Pose &transform)
int getJointIndex (const std::string &name, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool getKDLChain (const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain)
void getKDLChainInfo (const KDL::Chain &chain, kinematics_msgs::KinematicSolverInfo &chain_info)
int getKDLSegmentIndex (const KDL::Chain &chain, const std::string &name)
bool getKDLTree (const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Tree &kdl_chain)
Eigen::Matrix4f KDLToEigenMatrix (const KDL::Frame &p)
bool loadRobotModel (ros::NodeHandle node_handle, urdf::Model &robot_model, std::string &root_name, std::string &tip_name, std::string &xml_string)
Eigen::Matrix4f matrixInverse (const Eigen::Matrix4f &g)
bool solveCosineEqn (const double &a, const double &b, const double &c, double &soln1, double &soln2)
bool solveQuadratic (const double &a, const double &b, const double &c, double *x1, double *x2)

Variables

static const std::string FK_INFO_SERVICE = "get_fk_solver_info"
static const std::string FK_SERVICE = "get_fk"
static const double IK_DEFAULT_TIMEOUT = 10.0
static const double IK_EPS = 1e-5
static const std::string IK_INFO_SERVICE = "get_ik_solver_info"
static const std::string IK_SERVICE = "get_ik"
static const int NO_IK_SOLUTION = -1
static const int NUM_JOINTS_ARM7DOF = 7
static const int TIMED_OUT = -2

Function Documentation

bool pr2_arm_kinematics::checkConstraintAwareIKService ( kinematics_msgs::GetConstraintAwarePositionIK::Request request,
kinematics_msgs::GetConstraintAwarePositionIK::Response response,
const kinematics_msgs::KinematicSolverInfo chain_info 
)

Definition at line 344 of file pr2_arm_kinematics_utils.cpp.

bool pr2_arm_kinematics::checkFKService ( kinematics_msgs::GetPositionFK::Request request,
kinematics_msgs::GetPositionFK::Response response,
const kinematics_msgs::KinematicSolverInfo chain_info 
)

Definition at line 303 of file pr2_arm_kinematics_utils.cpp.

bool pr2_arm_kinematics::checkIKService ( kinematics_msgs::GetPositionIK::Request request,
kinematics_msgs::GetPositionIK::Response response,
const kinematics_msgs::KinematicSolverInfo chain_info 
)

Definition at line 321 of file pr2_arm_kinematics_utils.cpp.

bool pr2_arm_kinematics::checkJointNames ( const std::vector< std::string > &  joint_names,
const kinematics_msgs::KinematicSolverInfo chain_info 
)

Definition at line 240 of file pr2_arm_kinematics_utils.cpp.

bool pr2_arm_kinematics::checkLinkName ( const std::string &  link_name,
const kinematics_msgs::KinematicSolverInfo chain_info 
)

Definition at line 276 of file pr2_arm_kinematics_utils.cpp.

bool pr2_arm_kinematics::checkLinkNames ( const std::vector< std::string > &  link_names,
const kinematics_msgs::KinematicSolverInfo chain_info 
)

Definition at line 263 of file pr2_arm_kinematics_utils.cpp.

bool pr2_arm_kinematics::checkRobotState ( arm_navigation_msgs::RobotState robot_state,
const kinematics_msgs::KinematicSolverInfo chain_info 
)

Definition at line 287 of file pr2_arm_kinematics_utils.cpp.

double pr2_arm_kinematics::computeEuclideanDistance ( const std::vector< double > &  array_1,
const KDL::JntArray &  array_2 
)

Definition at line 117 of file pr2_arm_kinematics_utils.cpp.

bool pr2_arm_kinematics::convertPoseToRootFrame ( const geometry_msgs::PoseStamped pose_msg,
geometry_msgs::PoseStamped pose_msg_out,
const std::string &  root_frame,
tf::TransformListener tf 
)

Definition at line 380 of file pr2_arm_kinematics_utils.cpp.

bool pr2_arm_kinematics::convertPoseToRootFrame ( const geometry_msgs::PoseStamped pose_msg,
KDL::Frame pose_kdl,
const std::string &  root_frame,
tf::TransformListener tf 
)

Definition at line 367 of file pr2_arm_kinematics_utils.cpp.

double pr2_arm_kinematics::distance ( const urdf::Pose transform  ) 

Definition at line 128 of file pr2_arm_kinematics_utils.cpp.

int pr2_arm_kinematics::getJointIndex ( const std::string &  name,
const kinematics_msgs::KinematicSolverInfo chain_info 
)

Definition at line 423 of file pr2_arm_kinematics_utils.cpp.

bool pr2_arm_kinematics::getKDLChain ( const std::string &  xml_string,
const std::string &  root_name,
const std::string &  tip_name,
KDL::Chain kdl_chain 
)

Definition at line 74 of file pr2_arm_kinematics_utils.cpp.

void pr2_arm_kinematics::getKDLChainInfo ( const KDL::Chain chain,
kinematics_msgs::KinematicSolverInfo chain_info 
)

Definition at line 436 of file pr2_arm_kinematics_utils.cpp.

int pr2_arm_kinematics::getKDLSegmentIndex ( const KDL::Chain chain,
const std::string &  name 
)

Definition at line 447 of file pr2_arm_kinematics_utils.cpp.

bool pr2_arm_kinematics::getKDLTree ( const std::string &  xml_string,
const std::string &  root_name,
const std::string &  tip_name,
KDL::Tree kdl_chain 
)

Definition at line 91 of file pr2_arm_kinematics_utils.cpp.

Eigen::Matrix4f pr2_arm_kinematics::KDLToEigenMatrix ( const KDL::Frame p  ) 

Definition at line 103 of file pr2_arm_kinematics_utils.cpp.

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 
)

Definition at line 39 of file pr2_arm_kinematics_utils.cpp.

Eigen::Matrix4f pr2_arm_kinematics::matrixInverse ( const Eigen::Matrix4f &  g  ) 

Definition at line 164 of file pr2_arm_kinematics_utils.cpp.

bool pr2_arm_kinematics::solveCosineEqn ( const double &  a,
const double &  b,
const double &  c,
double &  soln1,
double &  soln2 
)

Definition at line 212 of file pr2_arm_kinematics_utils.cpp.

bool pr2_arm_kinematics::solveQuadratic ( const double &  a,
const double &  b,
const double &  c,
double *  x1,
double *  x2 
)

Definition at line 134 of file pr2_arm_kinematics_utils.cpp.


Variable Documentation

const std::string pr2_arm_kinematics::FK_INFO_SERVICE = "get_fk_solver_info" [static]

Definition at line 53 of file pr2_arm_kinematics.cpp.

const std::string pr2_arm_kinematics::FK_SERVICE = "get_fk" [static]

Definition at line 51 of file pr2_arm_kinematics.cpp.

const double pr2_arm_kinematics::IK_DEFAULT_TIMEOUT = 10.0 [static]

Definition at line 38 of file pr2_arm_kinematics_utils.cpp.

const double pr2_arm_kinematics::IK_EPS = 1e-5 [static]

Definition at line 40 of file pr2_arm_kinematics_constants.h.

const std::string pr2_arm_kinematics::IK_INFO_SERVICE = "get_ik_solver_info" [static]

Definition at line 52 of file pr2_arm_kinematics.cpp.

const std::string pr2_arm_kinematics::IK_SERVICE = "get_ik" [static]

Definition at line 50 of file pr2_arm_kinematics.cpp.

const int pr2_arm_kinematics::NO_IK_SOLUTION = -1 [static]

Definition at line 49 of file pr2_arm_ik_solver.h.

Definition at line 38 of file pr2_arm_kinematics_constants.h.

const int pr2_arm_kinematics::TIMED_OUT = -2 [static]

Definition at line 50 of file pr2_arm_ik_solver.h.

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pr2_arm_kinematics
Author(s): Sachin Chitta
autogenerated on Fri Mar 1 17:02:52 2013