sbpl_arm_planner: pr2_workspace.h Source File

00001 /* \author Gokul Subramanian */
00002 
00003 #ifndef _PR2_WORKSPACE_
00004 #define _PR2_WORKSPACE_
00005 
00006 
00007 #include <iostream>
00008 #include <fstream>
00009 #include <cstdlib>
00010 #include <vector>
00011 #include <math.h>
00012 #include <sbpl_arm_planner/pr2/sbpl_math.h>
00013 using namespace std;
00014 
00015 //Function prototypes
00016 void grid2world(long, long, long, double&, double&, double&);
00017 void world2grid(double, double, double, long&, long&, long&);
00018 vector<vector<double> > elbow_positions_given_pan(double, double, double, double, double, double, double, double, double[3]);
00019 vector<vector<double> > elbow_positions_given_endeff_pose(double, double, double, double, double);
00020 void elbow_positions_given_endeff_pose(vector<vector<double> >&, vector<vector<double> >&, double, double, double, double, double);
00021 void separate_rejected_points(vector<vector<double> >, vector<vector<double> >&, vector<vector<double> >&, vector<vector<double> >&);    
00022 bool check_joint_limits_and_append_joint_angles(double, double[3], double[3], vector<double>&, double[3]);
00023 bool check_joint_limits(double[3], double[3], vector<double>, double[3]);
00024 bool position(long, long, long);
00025 
00026 #endif