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_baseik_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]

Definition at line 222 of file ikfast_kinematics_plugin.cpp.


Member Data Documentation

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.

Definition at line 90 of file ikfast_kinematics_plugin.cpp.

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.

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.

Definition at line 97 of file ikfast_kinematics_plugin.cpp.

Definition at line 93 of file ikfast_kinematics_plugin.cpp.

Definition at line 93 of file ikfast_kinematics_plugin.cpp.


The documentation for this class was generated from the following file:
 All Classes Namespaces Files Functions Variables Typedefs Defines


cob_manipulator
Author(s): Alexander Bubeck
autogenerated on Fri Jan 11 09:58:14 2013