#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.