kuka_test.cpp File Reference

#include "ros/ros.h"
#include "kinematics_msgs/GetPositionIK.h"
#include <string>
#include <vector>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/message.h"
#include "ros/time.h"
#include "ros/service_traits.h"
#include "std_msgs/Header.h"
#include "geometry_msgs/Pose.h"
#include "motion_planning_msgs/RobotState.h"
#include "segment.hpp"
#include "chain.hpp"
#include <map>
#include <ctype.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <assert.h>
#include "tinystr.h"
#include <boost/function.hpp>
#include "link.h"
#include <pr2_controllers_msgs/JointTrajectoryControllerState.h>
#include "geometry_msgs/Point.h"
#include "geometry_msgs/Vector3.h"
#include "geometry_msgs/Quaternion.h"
#include "geometry_msgs/PoseStamped.h"
#include "btMatrix3x3.h"
#include "ros/console.h"
#include "utilities/kdl-config.h"
#include "utilities/utility.h"

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Functions
void	baseTwistCallback (const nav_msgs::Odometry::ConstPtr &msg)
void	cartTwistCallback (const geometry_msgs::Twist::ConstPtr &msg)
void	controllerStateCallback (const sensor_msgs::JointState::ConstPtr &msg)
KDL::Twist	getTwist (KDL::Frame F_ist)
int	main (int argc, char **argv)
void	Manipulability_potentialfield_lookup ()
JntArray	parseJointStates (std::vector< std::string > names, std::vector< double > positions)
void	sendVel (JntArray q_t, JntArray q_dot)
bool	SyncMMTrigger (cob_srvs::Trigger::Request &request, cob_srvs::Trigger::Response &response)
Variables
ros::Publisher	arm_pub_
ros::Publisher	base_pub_
KDL::Twist	baseTwist
KDL::Chain	chain
KDL::Chain	chain_base_arm0
KDL::Twist	extTwist
ChainFkSolverPos_recursive *	fksolver1
ChainIkSolverVel_pinv *	iksolver1v
ChainIkSolverPos_NR *	iksolverpos
ros::Time	last
double	lastgradx = 0.0
double	lastgrady = 0.0
KDL::JntArray	q
bool	RunSyncMM = false
bool	started = false
KDL::JntArray	VirtualQ

---

Function Documentation

void baseTwistCallback

(

const nav_msgs::Odometry::ConstPtr &

msg

)

Definition at line 87 of file kuka_test.cpp.

void cartTwistCallback

(

const geometry_msgs::Twist::ConstPtr &

msg

)

Definition at line 76 of file kuka_test.cpp.

void controllerStateCallback

(

const sensor_msgs::JointState::ConstPtr &

msg

)

Definition at line 234 of file kuka_test.cpp.

KDL::Twist getTwist

(

KDL::Frame

F_ist

)

Definition at line 129 of file kuka_test.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 259 of file kuka_test.cpp.

void Manipulability_potentialfield_lookup

(

)

Definition at line 142 of file kuka_test.cpp.

JntArray parseJointStates	(	std::vector< std::string >	names,
		std::vector< double >	positions
	)

Definition at line 54 of file kuka_test.cpp.

void sendVel	(	JntArray	q_t,
		JntArray	q_dot
	)

Definition at line 199 of file kuka_test.cpp.

bool SyncMMTrigger	(	cob_srvs::Trigger::Request &	request,
		cob_srvs::Trigger::Response &	response
	)

Definition at line 187 of file kuka_test.cpp.

---

Variable Documentation

ros::Publisher arm_pub_

Definition at line 49 of file kuka_test.cpp.

ros::Publisher base_pub_

Definition at line 50 of file kuka_test.cpp.

KDL::Twist baseTwist

Definition at line 38 of file kuka_test.cpp.

KDL::Chain chain

Definition at line 32 of file kuka_test.cpp.

KDL::Chain chain_base_arm0

Definition at line 33 of file kuka_test.cpp.

KDL::Twist extTwist

Definition at line 37 of file kuka_test.cpp.

ChainFkSolverPos_recursive* fksolver1

Definition at line 43 of file kuka_test.cpp.

ChainIkSolverVel_pinv* iksolver1v

Definition at line 44 of file kuka_test.cpp.

ChainIkSolverPos_NR* iksolverpos

Definition at line 45 of file kuka_test.cpp.

ros::Time last

Definition at line 39 of file kuka_test.cpp.

double lastgradx = 0.0

Definition at line 40 of file kuka_test.cpp.

double lastgrady = 0.0

Definition at line 41 of file kuka_test.cpp.

KDL::JntArray q

Definition at line 35 of file kuka_test.cpp.

bool RunSyncMM = false

Definition at line 48 of file kuka_test.cpp.

bool started = false

Definition at line 36 of file kuka_test.cpp.

KDL::JntArray VirtualQ

Definition at line 34 of file kuka_test.cpp.