Classes | Functions | Variables
pr2_arm_kinematics Namespace Reference

Classes

class  PR2ArmIK
 
class  PR2ArmIKSolver
 
class  PR2ArmKinematicsPlugin
 

Functions

double computeEuclideanDistance (const std::vector< double > &array_1, const KDL::JntArray &array_2)
 
double distance (const urdf::Pose &transform)
 
bool getKDLChain (const urdf::ModelInterface &model, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain)
 
void getKDLChainInfo (const KDL::Chain &chain, moveit_msgs::KinematicSolverInfo &chain_info)
 
Eigen::Isometry3f KDLToEigenMatrix (const KDL::Frame &p)
 
 MOVEIT_CLASS_FORWARD (PR2ArmIKSolver)
 
 MOVEIT_CLASS_FORWARD (PR2ArmKinematicsPlugin)
 
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 double IK_EPS = 1e-5
 
static const int NO_IK_SOLUTION = -1
 
static const int NUM_JOINTS_ARM7DOF = 7
 
static const int TIMED_OUT = -2
 

Function Documentation

◆ computeEuclideanDistance()

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

Definition at line 235 of file pr2_arm_kinematics_plugin.cpp.

◆ distance()

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

Definition at line 86 of file pr2_arm_ik.h.

◆ getKDLChain()

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

Definition at line 203 of file pr2_arm_kinematics_plugin.cpp.

◆ getKDLChainInfo()

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

Definition at line 245 of file pr2_arm_kinematics_plugin.cpp.

◆ KDLToEigenMatrix()

Eigen::Isometry3f pr2_arm_kinematics::KDLToEigenMatrix ( const KDL::Frame &  p)

Definition at line 221 of file pr2_arm_kinematics_plugin.cpp.

◆ MOVEIT_CLASS_FORWARD() [1/2]

pr2_arm_kinematics::MOVEIT_CLASS_FORWARD ( PR2ArmIKSolver  )

◆ MOVEIT_CLASS_FORWARD() [2/2]

pr2_arm_kinematics::MOVEIT_CLASS_FORWARD ( PR2ArmKinematicsPlugin  )

◆ solveCosineEqn()

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

Definition at line 122 of file pr2_arm_ik.h.

◆ solveQuadratic()

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

Definition at line 92 of file pr2_arm_ik.h.

Variable Documentation

◆ IK_EPS

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

Definition at line 84 of file pr2_arm_ik.h.

◆ NO_IK_SOLUTION

const int pr2_arm_kinematics::NO_IK_SOLUTION = -1
static

Definition at line 95 of file pr2_arm_kinematics_plugin.h.

◆ NUM_JOINTS_ARM7DOF

const int pr2_arm_kinematics::NUM_JOINTS_ARM7DOF = 7
static

Definition at line 82 of file pr2_arm_ik.h.

◆ TIMED_OUT

const int pr2_arm_kinematics::TIMED_OUT = -2
static

Definition at line 96 of file pr2_arm_kinematics_plugin.h.



moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Wed Oct 21 2020 03:28:06