ik_solver_kdl.cpp File Reference

#include "ros/ros.h"
#include <iostream>
#include <cmath>
#include <stdexcept>
#include "duration.h"
#include <sys/time.h>
#include "ros/time.h"
#include <cstdio>
#include <sstream>
#include <log4cxx/logger.h>
#include "ros/console.h"
#include <boost/static_assert.hpp>
#include <cassert>
#include <stdint.h>
#include <assert.h>
#include <stddef.h>
#include <string>
#include "ros/assert.h"
#include <vector>
#include <map>
#include <set>
#include <list>
#include <boost/shared_ptr.hpp>
#include <boost/weak_ptr.hpp>
#include <boost/function.hpp>
#include "exceptions.h"
#include <boost/shared_array.hpp>
#include "ros/types.h"
#include "ros/forwards.h"
#include "ros/common.h"
#include "ros/macros.h"
#include <string.h>
#include <boost/array.hpp>
#include "serialized_message.h"
#include "message_forward.h"
#include <boost/utility/enable_if.hpp>
#include <boost/type_traits/remove_const.hpp>
#include <boost/type_traits/remove_reference.hpp>
#include "message_traits.h"
#include "ros/exception.h"
#include <boost/call_traits.hpp>
#include <boost/mpl/and.hpp>
#include <boost/mpl/or.hpp>
#include <boost/mpl/not.hpp>
#include <cstring>
#include <boost/bind.hpp>
#include <typeinfo>
#include <ros/message.h>
#include <boost/type_traits/is_void.hpp>
#include <boost/type_traits/is_base_of.hpp>
#include <boost/type_traits/is_const.hpp>
#include <boost/type_traits/add_const.hpp>
#include <boost/make_shared.hpp>
#include <ros/static_assert.h>
#include "ros/message_traits.h"
#include "ros/builtin_message_traits.h"
#include "ros/serialization.h"
#include "ros/message_event.h"
#include "forwards.h"
#include "timer_options.h"
#include "wall_timer_options.h"
#include "ros/service_traits.h"
#include <boost/lexical_cast.hpp>
#include "subscription_callback_helper.h"
#include "ros/spinner.h"
#include <time.h>
#include "ros/publisher.h"
#include <boost/utility.hpp>
#include "ros/service_server.h"
#include "ros/subscriber.h"
#include "ros/node_handle.h"
#include "ros/init.h"
#include "XmlRpcValue.h"
#include "node_handle.h"
#include "ros/names.h"
#include <ostream>
#include "ros/message_operations.h"
#include "std_msgs/Header.h"
#include "geometry_msgs/Pose.h"
#include "motion_planning_msgs/RobotState.h"
#include "geometry_msgs/PoseStamped.h"
#include "motion_planning_msgs/ArmNavigationErrorCodes.h"
#include "kinematics_msgs/PositionIKRequest.h"
#include "geometry_msgs/Point.h"
#include "geometric_shapes_msgs/Shape.h"
#include "geometry_msgs/Quaternion.h"
#include "segment.hpp"
#include "chain.hpp"
#include <ctype.h>
#include <stdio.h>
#include <stdlib.h>
#include "tinystr.h"
#include "link.h"
#include "geometry_msgs/PointStamped.h"
#include "geometry_msgs/Vector3.h"
#include "btMatrix3x3.h"
#include "utilities/kdl-config.h"
#include "utilities/utility.h"
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Functions

bool constraint_aware_ik_solve (kinematics_msgs::GetConstraintAwarePositionIK::Request &req, kinematics_msgs::GetConstraintAwarePositionIK::Response &res)
bool fk_solve (kinematics_msgs::GetPositionFK::Request &req, kinematics_msgs::GetPositionFK::Response &res)
bool fk_solve_all (kinematics_msgs::GetPositionFK::Request &req, kinematics_msgs::GetPositionFK::Response &res)
bool fk_solve_TCP (kinematics_msgs::GetPositionFK::Request &req, kinematics_msgs::GetPositionFK::Response &res)
bool getFKSolverInfo (kinematics_msgs::GetKinematicSolverInfo::Request &req, kinematics_msgs::GetKinematicSolverInfo::Response &res)
bool getIKSolverInfo (kinematics_msgs::GetKinematicSolverInfo::Request &req, kinematics_msgs::GetKinematicSolverInfo::Response &res)
int getJointIndex (const std::string &name, const kinematics_msgs::KinematicSolverInfo &chain_info)
void getKDLChainInfo (kinematics_msgs::KinematicSolverInfo &chain_info)
bool ik_solve (kinematics_msgs::GetPositionIK::Request &req, kinematics_msgs::GetPositionIK::Response &res)
int main (int argc, char **argv)

Variables

KDL::Chain chain
KDL::Tree my_tree

Function Documentation

bool constraint_aware_ik_solve ( kinematics_msgs::GetConstraintAwarePositionIK::Request &  req,
kinematics_msgs::GetConstraintAwarePositionIK::Response &  res 
)

Definition at line 171 of file ik_solver_kdl.cpp.

bool fk_solve ( kinematics_msgs::GetPositionFK::Request &  req,
kinematics_msgs::GetPositionFK::Response &  res 
)

Definition at line 324 of file ik_solver_kdl.cpp.

bool fk_solve_all ( kinematics_msgs::GetPositionFK::Request &  req,
kinematics_msgs::GetPositionFK::Response &  res 
)

Definition at line 260 of file ik_solver_kdl.cpp.

bool fk_solve_TCP ( kinematics_msgs::GetPositionFK::Request &  req,
kinematics_msgs::GetPositionFK::Response &  res 
)

Definition at line 208 of file ik_solver_kdl.cpp.

bool getFKSolverInfo ( kinematics_msgs::GetKinematicSolverInfo::Request &  req,
kinematics_msgs::GetKinematicSolverInfo::Response &  res 
)

Definition at line 391 of file ik_solver_kdl.cpp.

bool getIKSolverInfo ( kinematics_msgs::GetKinematicSolverInfo::Request &  req,
kinematics_msgs::GetKinematicSolverInfo::Response &  res 
)

ToDo: this call returns joint_names "arm_i_joint", where i=0...6. should be: i=1...7!!!!

Definition at line 197 of file ik_solver_kdl.cpp.

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

Definition at line 59 of file ik_solver_kdl.cpp.

void getKDLChainInfo ( kinematics_msgs::KinematicSolverInfo &  chain_info  ) 

Definition at line 23 of file ik_solver_kdl.cpp.

bool ik_solve ( kinematics_msgs::GetPositionIK::Request &  req,
kinematics_msgs::GetPositionIK::Response &  res 
)

Definition at line 73 of file ik_solver_kdl.cpp.

int main ( int  argc,
char **  argv 
)

Definition at line 403 of file ik_solver_kdl.cpp.


Variable Documentation

KDL::Chain chain

Definition at line 20 of file ik_solver_kdl.cpp.

KDL::Tree my_tree

Definition at line 21 of file ik_solver_kdl.cpp.

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