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 |
Definition at line 86 of file ikfast_kinematics_plugin.cpp.
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.
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] |
Definition at line 222 of file ikfast_kinematics_plugin.cpp.
std::vector<int> cob3_arm_kinematics::IKFastKinematicsPlugin::freeParams [private] |
Definition at line 98 of file ikfast_kinematics_plugin.cpp.
Definition at line 96 of file ikfast_kinematics_plugin.cpp.
boost::shared_ptr<KDL::ChainFkSolverPos_recursive> cob3_arm_kinematics::IKFastKinematicsPlugin::jnt_to_pose_solver [private] |
Definition at line 95 of file ikfast_kinematics_plugin.cpp.
std::vector<double> cob3_arm_kinematics::IKFastKinematicsPlugin::jointMax [private] |
Definition at line 90 of file ikfast_kinematics_plugin.cpp.
std::vector<double> cob3_arm_kinematics::IKFastKinematicsPlugin::jointMin [private] |
Definition at line 89 of file ikfast_kinematics_plugin.cpp.
std::vector<std::string> cob3_arm_kinematics::IKFastKinematicsPlugin::joints [private] |
Definition at line 88 of file ikfast_kinematics_plugin.cpp.
KDL::Chain cob3_arm_kinematics::IKFastKinematicsPlugin::kdl_chain [private] |
Definition at line 94 of file ikfast_kinematics_plugin.cpp.
std::map<std::string,size_t> cob3_arm_kinematics::IKFastKinematicsPlugin::link2index [private] |
Definition at line 92 of file ikfast_kinematics_plugin.cpp.
std::vector<std::string> cob3_arm_kinematics::IKFastKinematicsPlugin::links [private] |
Definition at line 91 of file ikfast_kinematics_plugin.cpp.
size_t cob3_arm_kinematics::IKFastKinematicsPlugin::numJoints [private] |
Definition at line 97 of file ikfast_kinematics_plugin.cpp.
std::string cob3_arm_kinematics::IKFastKinematicsPlugin::root_name [private] |
Definition at line 93 of file ikfast_kinematics_plugin.cpp.
std::string cob3_arm_kinematics::IKFastKinematicsPlugin::tip_name [private] |
Definition at line 93 of file ikfast_kinematics_plugin.cpp.