pr2_arm_kinematics::PR2ArmIK Class Reference

#include <pr2_arm_ik.h>

Public Member Functions
void	computeIKShoulderPan (const Eigen::Matrix4f &g_in, const double &shoulder_pan_initial_guess, std::vector< std::vector< double > > &solution)
	compute IK based on an initial guess for the shoulder pan angle.
void	computeIKShoulderRoll (const Eigen::Matrix4f &g_in, const double &shoulder_roll_initial_guess, std::vector< std::vector< double > > &solution)
	compute IK based on an initial guess for the shoulder roll angle. h
void	getSolverInfo (kinematics_msgs::KinematicSolverInfo &info)
	get chain information about the arm. This populates the IK query response, filling in joint level information including names and joint limits.
bool	init (const urdf::Model &robot_model, const std::string &root_name, const std::string &tip_name)
	Initialize the solver by providing a urdf::Model and a root and tip name.
	PR2ArmIK ()
	~PR2ArmIK ()
Public Attributes
kinematics_msgs::KinematicSolverInfo	solver_info_
	get chain information about the arm.
Private Member Functions
void	addJointToChainInfo (boost::shared_ptr< const urdf::Joint > joint, kinematics_msgs::KinematicSolverInfo &info)
bool	checkJointLimits (const double &joint_value, const int &joint_num)
bool	checkJointLimits (const std::vector< double > &joint_values)
Private Attributes
std::vector< double >	angle_multipliers_
std::vector< bool >	continuous_joint_
double	elbow_wrist_offset_
Eigen::Matrix4f	gf_
Eigen::Matrix4f	grhs_
Eigen::Matrix4f	home_
Eigen::Matrix4f	home_inv_
std::vector< double >	max_angles_
std::vector< double >	min_angles_
double	shoulder_elbow_offset_
double	shoulder_upperarm_offset_
double	shoulder_wrist_offset_
std::vector< double >	solution_
double	torso_shoulder_offset_x_
double	torso_shoulder_offset_y_
double	torso_shoulder_offset_z_
double	upperarm_elbow_offset_

Detailed Description

Definition at line 46 of file pr2_arm_ik.h.

Constructor & Destructor Documentation

PR2ArmIK::PR2ArmIK ( )

Definition at line 48 of file pr2_arm_ik.cpp.

pr2_arm_kinematics::PR2ArmIK::~PR2ArmIK ( ) [inline]

Definition at line 56 of file pr2_arm_ik.h.

Member Function Documentation

void PR2ArmIK::addJointToChainInfo	(	boost::shared_ptr< const urdf::Joint >	joint,
		kinematics_msgs::KinematicSolverInfo &	info
	)			`[private]`

Definition at line 125 of file pr2_arm_ik.cpp.

bool PR2ArmIK::checkJointLimits	(	const double &	joint_value,
		const int &	joint_num
	)			`[private]`

Definition at line 642 of file pr2_arm_ik.cpp.

bool PR2ArmIK::checkJointLimits ( const std::vector< double > & joint_values ) [private]

Definition at line 630 of file pr2_arm_ik.cpp.

void PR2ArmIK::computeIKShoulderPan	(	const Eigen::Matrix4f &	g_in,
		const double &	shoulder_pan_initial_guess,
		std::vector< std::vector< double > > &	solution
	)

compute IK based on an initial guess for the shoulder pan angle.

Parameters:

	Input	pose for end-effector
	Initial	guess for shoulder pan angle

Definition at line 154 of file pr2_arm_ik.cpp.

void PR2ArmIK::computeIKShoulderRoll	(	const Eigen::Matrix4f &	g_in,
		const double &	shoulder_roll_initial_guess,
		std::vector< std::vector< double > > &	solution
	)