pr2_arm_kinematics::PR2ArmKinematics Class Reference

#include <pr2_arm_kinematics.h>

Public Member Functions
bool	getFKSolverInfo (kinematics_msgs::GetKinematicSolverInfo::Request &request, kinematics_msgs::GetKinematicSolverInfo::Response &response)
	This is the basic kinematics info service that will return information about the kinematics node.
bool	getIKSolverInfo (kinematics_msgs::GetKinematicSolverInfo::Request &request, kinematics_msgs::GetKinematicSolverInfo::Response &response)
	This is the basic kinematics info service that will return information about the kinematics node.
bool	getPositionFK (kinematics_msgs::GetPositionFK::Request &request, kinematics_msgs::GetPositionFK::Response &response)
	This is the basic forward kinematics service that will return information about the kinematics node.
virtual bool	getPositionIK (kinematics_msgs::GetPositionIK::Request &request, kinematics_msgs::GetPositionIK::Response &response)
	This is the basic IK service method that will compute and return an IK solution.
bool	isActive ()
	Specifies if the node is active or not.
	PR2ArmKinematics (bool create_transform_listener=true)
virtual	~PR2ArmKinematics ()
Protected Member Functions
bool	getPositionIKHelper (kinematics_msgs::GetPositionIK::Request &request, kinematics_msgs::GetPositionIK::Response &response)
virtual bool	transformPose (const std::string &des_frame, const geometry_msgs::PoseStamped &pose_in, geometry_msgs::PoseStamped &pose_out)
Protected Attributes
bool	active_
int	dimension_
ros::ServiceServer	fk_service_
kinematics_msgs::KinematicSolverInfo	fk_solver_info_
ros::ServiceServer	fk_solver_info_service_
int	free_angle_
ros::ServiceServer	ik_service_
kinematics_msgs::KinematicSolverInfo	ik_solver_info_
ros::ServiceServer	ik_solver_info_service_
boost::shared_ptr < KDL::ChainFkSolverPos_recursive >	jnt_to_pose_solver_
KDL::Chain	kdl_chain_
ros::NodeHandle	node_handle_
boost::shared_ptr < pr2_arm_kinematics::PR2ArmIKSolver >	pr2_arm_ik_solver_
urdf::Model	robot_model_
ros::NodeHandle	root_handle_
std::string	root_name_
double	search_discretization_
tf::TransformListener *	tf_

Detailed Description

Definition at line 60 of file pr2_arm_kinematics.h.

Constructor & Destructor Documentation

pr2_arm_kinematics::PR2ArmKinematics::PR2ArmKinematics ( bool create_transform_listener = true )

Definition at line 55 of file pr2_arm_kinematics.cpp.

pr2_arm_kinematics::PR2ArmKinematics::~PR2ArmKinematics ( ) [virtual]

Definition at line 119 of file pr2_arm_kinematics.cpp.

Member Function Documentation

bool pr2_arm_kinematics::PR2ArmKinematics::getFKSolverInfo	(	kinematics_msgs::GetKinematicSolverInfo::Request &	request,
		kinematics_msgs::GetKinematicSolverInfo::Response &	response
	)

This is the basic kinematics info service that will return information about the kinematics node.

Parameters:

	A	request message. See service definition for GetKinematicSolverInfo for more information on this message.
	The	response message. See service definition for GetKinematicSolverInfo for more information on this message.

Definition at line 229 of file pr2_arm_kinematics.cpp.

bool pr2_arm_kinematics::PR2ArmKinematics::getIKSolverInfo	(	kinematics_msgs::GetKinematicSolverInfo::Request &	request,
		kinematics_msgs::GetKinematicSolverInfo::Response &	response
	)

This is the basic kinematics info service that will return information about the kinematics node.

Parameters:

	A	request message. See service definition for GetKinematicSolverInfo for more information on this message.
	The	response message. See service definition for GetKinematicSolverInfo for more information on this message.

Definition at line 217 of file pr2_arm_kinematics.cpp.

bool pr2_arm_kinematics::PR2ArmKinematics::getPositionFK	(	kinematics_msgs::GetPositionFK::Request &	request,
		kinematics_msgs::GetPositionFK::Response &	response
	)

This is the basic forward kinematics service that will return information about the kinematics node.

Parameters:

	A	request message. See service definition for GetPositionFK for more information on this message.
	The	response message. See service definition for GetPositionFK for more information on this message.

Definition at line 241 of file pr2_arm_kinematics.cpp.

bool pr2_arm_kinematics::PR2ArmKinematics::getPositionIK	(	kinematics_msgs::GetPositionIK::Request &	request,
		kinematics_msgs::GetPositionIK::Response &	response
	)			`[virtual]`

This is the basic IK service method that will compute and return an IK solution.

Parameters:

	A	request message. See service definition for GetPositionIK for more information on this message.
	The	response message. See service definition for GetPositionIK for more information on this message.

Definition at line 133 of file pr2_arm_kinematics.cpp.

bool pr2_arm_kinematics::PR2ArmKinematics::getPositionIKHelper	(	kinematics_msgs::GetPositionIK::Request &	request,
		kinematics_msgs::GetPositionIK::Response &	response
	)			`[protected]`

Definition at line 164 of file pr2_arm_kinematics.cpp.

bool pr2_arm_kinematics::PR2ArmKinematics::isActive ( )

Specifies if the node is active or not.

Returns:: True if the node is active, false otherwise.

Definition at line 126 of file pr2_arm_kinematics.cpp.

bool pr2_arm_kinematics::PR2ArmKinematics::transformPose	(	const std::string &	des_frame,
		const geometry_msgs::PoseStamped &	pose_in,
		geometry_msgs::PoseStamped &	pose_out
	)			`[protected, virtual]`