arm_kinematics_constraint_aware Namespace Reference

Classes
class	ArmKinematicsConstraintAware
class	KDLArmKinematicsPlugin
Functions
bool	checkConstraintAwareIKService (kinematics_msgs::GetConstraintAwarePositionIK::Request &request, kinematics_msgs::GetConstraintAwarePositionIK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool	checkFKService (kinematics_msgs::GetPositionFK::Request &request, kinematics_msgs::GetPositionFK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool	checkIKService (kinematics_msgs::GetPositionIK::Request &request, kinematics_msgs::GetPositionIK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool	checkJointNames (const std::vector< std::string > &joint_names, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool	checkLinkName (const std::string &link_name, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool	checkLinkNames (const std::vector< std::string > &link_names, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool	checkRobotState (arm_navigation_msgs::RobotState &robot_state, const kinematics_msgs::KinematicSolverInfo &chain_info)
double	computeEuclideanDistance (const std::vector< double > &array_1, const KDL::JntArray &array_2)
bool	convertPoseToRootFrame (const geometry_msgs::PoseStamped &pose_msg, geometry_msgs::PoseStamped &pose_msg_out, const std::string &root_frame, const tf::TransformListener &tf)
bool	convertPoseToRootFrame (const geometry_msgs::PoseStamped &pose_msg, KDL::Frame &pose_kdl, const std::string &root_frame, const tf::TransformListener &tf)
double	distance (const urdf::Pose &transform)
bool	getChainInfo (const std::string &name, kinematics_msgs::KinematicSolverInfo &chain_info)
bool	getChainInfoFromRobotModel (urdf::Model &robot_model, const std::string &root_name, const std::string &tip_name, kinematics_msgs::KinematicSolverInfo &chain_info)
int	getJointIndex (const std::string &name, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool	getKDLChain (const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain)
void	getKDLChainInfo (const KDL::Chain &chain, kinematics_msgs::KinematicSolverInfo &chain_info)
int	getKDLSegmentIndex (const KDL::Chain &chain, const std::string &name)
bool	getKDLTree (const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Tree &kdl_chain)
Eigen::Matrix4f	KDLToEigenMatrix (const KDL::Frame &p)
arm_navigation_msgs::ArmNavigationErrorCodes	kinematicsErrorCodeToMotionPlanningErrorCode (const int &kinematics_error_code)
bool	loadRobotModel (ros::NodeHandle node_handle, urdf::Model &robot_model, std::string &root_name, std::string &tip_name, std::string &xml_string)
Eigen::Matrix4f	matrixInverse (const Eigen::Matrix4f &g)
void	reorderJointState (sensor_msgs::JointState &joint_state, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool	solveCosineEqn (const double &a, const double &b, const double &c, double &soln1, double &soln2)
bool	solveQuadratic (const double &a, const double &b, const double &c, double *x1, double *x2)
Variables
static const std::string	FK_INFO_SERVICE = "get_fk_solver_info"
static const std::string	FK_SERVICE = "get_fk"
static const double	IK_DEFAULT_TIMEOUT = 10.0
static const double	IK_EPS = 1e-5
static const std::string	IK_INFO_SERVICE = "get_ik_solver_info"
static const std::string	IK_SERVICE = "get_ik"
static const std::string	IK_WITH_COLLISION_SERVICE = "get_constraint_aware_ik"
static const int	NUM_JOINTS_ARM7DOF = 7

---

Function Documentation

bool arm_kinematics_constraint_aware::checkConstraintAwareIKService	(	kinematics_msgs::GetConstraintAwarePositionIK::Request &	request,
		kinematics_msgs::GetConstraintAwarePositionIK::Response &	response,
		const kinematics_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 344 of file arm_kinematics_constraint_aware_utils.cpp.

bool arm_kinematics_constraint_aware::checkFKService	(	kinematics_msgs::GetPositionFK::Request &	request,
		kinematics_msgs::GetPositionFK::Response &	response,
		const kinematics_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 303 of file arm_kinematics_constraint_aware_utils.cpp.

bool arm_kinematics_constraint_aware::checkIKService	(	kinematics_msgs::GetPositionIK::Request &	request,
		kinematics_msgs::GetPositionIK::Response &	response,
		const kinematics_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 321 of file arm_kinematics_constraint_aware_utils.cpp.

bool arm_kinematics_constraint_aware::checkJointNames	(	const std::vector< std::string > &	joint_names,
		const kinematics_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 240 of file arm_kinematics_constraint_aware_utils.cpp.

bool arm_kinematics_constraint_aware::checkLinkName	(	const std::string &	link_name,
		const kinematics_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 276 of file arm_kinematics_constraint_aware_utils.cpp.

bool arm_kinematics_constraint_aware::checkLinkNames	(	const std::vector< std::string > &	link_names,
		const kinematics_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 263 of file arm_kinematics_constraint_aware_utils.cpp.

bool arm_kinematics_constraint_aware::checkRobotState	(	arm_navigation_msgs::RobotState &	robot_state,
		const kinematics_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 287 of file arm_kinematics_constraint_aware_utils.cpp.

double arm_kinematics_constraint_aware::computeEuclideanDistance	(	const std::vector< double > &	array_1,
		const KDL::JntArray &	array_2
	)

Definition at line 118 of file arm_kinematics_constraint_aware_utils.cpp.

bool arm_kinematics_constraint_aware::convertPoseToRootFrame	(	const geometry_msgs::PoseStamped &	pose_msg,
		geometry_msgs::PoseStamped &	pose_msg_out,
		const std::string &	root_frame,
		const tf::TransformListener &	tf
	)

Definition at line 380 of file arm_kinematics_constraint_aware_utils.cpp.

bool arm_kinematics_constraint_aware::convertPoseToRootFrame	(	const geometry_msgs::PoseStamped &	pose_msg,
		KDL::Frame &	pose_kdl,
		const std::string &	root_frame,
		const tf::TransformListener &	tf
	)

Definition at line 367 of file arm_kinematics_constraint_aware_utils.cpp.

double arm_kinematics_constraint_aware::distance

(

const urdf::Pose &

transform

)

Definition at line 129 of file arm_kinematics_constraint_aware_utils.cpp.

bool arm_kinematics_constraint_aware::getChainInfo	(	const std::string &	name,
		kinematics_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 478 of file arm_kinematics_constraint_aware_utils.cpp.

bool arm_kinematics_constraint_aware::getChainInfoFromRobotModel	(	urdf::Model &	robot_model,
		const std::string &	root_name,
		const std::string &	tip_name,
		kinematics_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 521 of file arm_kinematics_constraint_aware_utils.cpp.

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

Definition at line 422 of file arm_kinematics_constraint_aware_utils.cpp.

bool arm_kinematics_constraint_aware::getKDLChain	(	const std::string &	xml_string,
		const std::string &	root_name,
		const std::string &	tip_name,
		KDL::Chain &	kdl_chain
	)

Definition at line 75 of file arm_kinematics_constraint_aware_utils.cpp.

void arm_kinematics_constraint_aware::getKDLChainInfo	(	const KDL::Chain &	chain,
		kinematics_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 435 of file arm_kinematics_constraint_aware_utils.cpp.

int arm_kinematics_constraint_aware::getKDLSegmentIndex	(	const KDL::Chain &	chain,
		const std::string &	name
	)

Definition at line 446 of file arm_kinematics_constraint_aware_utils.cpp.

bool arm_kinematics_constraint_aware::getKDLTree	(	const std::string &	xml_string,
		const std::string &	root_name,
		const std::string &	tip_name,
		KDL::Tree &	kdl_chain
	)

Definition at line 92 of file arm_kinematics_constraint_aware_utils.cpp.

Eigen::Matrix4f arm_kinematics_constraint_aware::KDLToEigenMatrix

(

const KDL::Frame &

p

)

Definition at line 104 of file arm_kinematics_constraint_aware_utils.cpp.

arm_navigation_msgs::ArmNavigationErrorCodes arm_kinematics_constraint_aware::kinematicsErrorCodeToMotionPlanningErrorCode

(

const int &

kinematics_error_code

)

Definition at line 573 of file arm_kinematics_constraint_aware_utils.cpp.

bool arm_kinematics_constraint_aware::loadRobotModel	(	ros::NodeHandle	node_handle,
		urdf::Model &	robot_model,
		std::string &	root_name,
		std::string &	tip_name,
		std::string &	xml_string
	)

Definition at line 40 of file arm_kinematics_constraint_aware_utils.cpp.

Eigen::Matrix4f arm_kinematics_constraint_aware::matrixInverse

(

const Eigen::Matrix4f &

g

)

Definition at line 165 of file arm_kinematics_constraint_aware_utils.cpp.

void arm_kinematics_constraint_aware::reorderJointState	(	sensor_msgs::JointState &	joint_state,
		const kinematics_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 461 of file arm_kinematics_constraint_aware_utils.cpp.

bool arm_kinematics_constraint_aware::solveCosineEqn	(	const double &	a,
		const double &	b,
		const double &	c,
		double &	soln1,
		double &	soln2
	)

Definition at line 213 of file arm_kinematics_constraint_aware_utils.cpp.

bool arm_kinematics_constraint_aware::solveQuadratic	(	const double &	a,
		const double &	b,
		const double &	c,
		double *	x1,
		double *	x2
	)

Definition at line 135 of file arm_kinematics_constraint_aware_utils.cpp.

---

Variable Documentation

const std::string arm_kinematics_constraint_aware::FK_INFO_SERVICE = "get_fk_solver_info" [static]

Definition at line 46 of file arm_kinematics_constraint_aware.cpp.

const std::string arm_kinematics_constraint_aware::FK_SERVICE = "get_fk" [static]

Definition at line 48 of file arm_kinematics_constraint_aware.cpp.

static const double arm_kinematics_constraint_aware::IK_DEFAULT_TIMEOUT = 10.0 [static]

Definition at line 49 of file arm_kinematics_constraint_aware.cpp.

const double arm_kinematics_constraint_aware::IK_EPS = 1e-5 [static]

Definition at line 39 of file arm_kinematics_constraint_aware_utils.cpp.

const std::string arm_kinematics_constraint_aware::IK_INFO_SERVICE = "get_ik_solver_info" [static]

Definition at line 45 of file arm_kinematics_constraint_aware.cpp.

const std::string arm_kinematics_constraint_aware::IK_SERVICE = "get_ik" [static]

Definition at line 47 of file arm_kinematics_constraint_aware.cpp.

const std::string arm_kinematics_constraint_aware::IK_WITH_COLLISION_SERVICE = "get_constraint_aware_ik" [static]

Definition at line 44 of file arm_kinematics_constraint_aware.cpp.

const int arm_kinematics_constraint_aware::NUM_JOINTS_ARM7DOF = 7 [static]

Definition at line 38 of file arm_kinematics_constraint_aware_utils.cpp.