#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"
Go to the source code of this file.
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 |
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.
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.