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Classes | |
class | PR2ArmIK |
class | PR2ArmIKSolver |
class | PR2ArmKinematics |
class | PR2ArmKinematicsPlugin |
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, tf::TransformListener &tf) |
bool | convertPoseToRootFrame (const geometry_msgs::PoseStamped &pose_msg, KDL::Frame &pose_kdl, const std::string &root_frame, tf::TransformListener &tf) |
double | distance (const urdf::Pose &transform) |
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) |
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) |
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 int | NO_IK_SOLUTION = -1 |
static const int | NUM_JOINTS_ARM7DOF = 7 |
static const int | TIMED_OUT = -2 |
bool pr2_arm_kinematics::checkConstraintAwareIKService | ( | kinematics_msgs::GetConstraintAwarePositionIK::Request & | request, | |
kinematics_msgs::GetConstraintAwarePositionIK::Response & | response, | |||
const kinematics_msgs::KinematicSolverInfo & | chain_info | |||
) |
Definition at line 344 of file pr2_arm_kinematics_utils.cpp.
bool pr2_arm_kinematics::checkFKService | ( | kinematics_msgs::GetPositionFK::Request & | request, | |
kinematics_msgs::GetPositionFK::Response & | response, | |||
const kinematics_msgs::KinematicSolverInfo & | chain_info | |||
) |
Definition at line 303 of file pr2_arm_kinematics_utils.cpp.
bool pr2_arm_kinematics::checkIKService | ( | kinematics_msgs::GetPositionIK::Request & | request, | |
kinematics_msgs::GetPositionIK::Response & | response, | |||
const kinematics_msgs::KinematicSolverInfo & | chain_info | |||
) |
Definition at line 321 of file pr2_arm_kinematics_utils.cpp.
bool pr2_arm_kinematics::checkJointNames | ( | const std::vector< std::string > & | joint_names, | |
const kinematics_msgs::KinematicSolverInfo & | chain_info | |||
) |
Definition at line 240 of file pr2_arm_kinematics_utils.cpp.
bool pr2_arm_kinematics::checkLinkName | ( | const std::string & | link_name, | |
const kinematics_msgs::KinematicSolverInfo & | chain_info | |||
) |
Definition at line 276 of file pr2_arm_kinematics_utils.cpp.
bool pr2_arm_kinematics::checkLinkNames | ( | const std::vector< std::string > & | link_names, | |
const kinematics_msgs::KinematicSolverInfo & | chain_info | |||
) |
Definition at line 263 of file pr2_arm_kinematics_utils.cpp.
bool pr2_arm_kinematics::checkRobotState | ( | arm_navigation_msgs::RobotState & | robot_state, | |
const kinematics_msgs::KinematicSolverInfo & | chain_info | |||
) |
Definition at line 287 of file pr2_arm_kinematics_utils.cpp.
double pr2_arm_kinematics::computeEuclideanDistance | ( | const std::vector< double > & | array_1, | |
const KDL::JntArray & | array_2 | |||
) |
Definition at line 117 of file pr2_arm_kinematics_utils.cpp.
bool pr2_arm_kinematics::convertPoseToRootFrame | ( | const geometry_msgs::PoseStamped & | pose_msg, | |
geometry_msgs::PoseStamped & | pose_msg_out, | |||
const std::string & | root_frame, | |||
tf::TransformListener & | tf | |||
) |
Definition at line 380 of file pr2_arm_kinematics_utils.cpp.
bool pr2_arm_kinematics::convertPoseToRootFrame | ( | const geometry_msgs::PoseStamped & | pose_msg, | |
KDL::Frame & | pose_kdl, | |||
const std::string & | root_frame, | |||
tf::TransformListener & | tf | |||
) |
Definition at line 367 of file pr2_arm_kinematics_utils.cpp.
double pr2_arm_kinematics::distance | ( | const urdf::Pose & | transform | ) |
Definition at line 128 of file pr2_arm_kinematics_utils.cpp.
int pr2_arm_kinematics::getJointIndex | ( | const std::string & | name, | |
const kinematics_msgs::KinematicSolverInfo & | chain_info | |||
) |
Definition at line 423 of file pr2_arm_kinematics_utils.cpp.
bool pr2_arm_kinematics::getKDLChain | ( | const std::string & | xml_string, | |
const std::string & | root_name, | |||
const std::string & | tip_name, | |||
KDL::Chain & | kdl_chain | |||
) |
Definition at line 74 of file pr2_arm_kinematics_utils.cpp.
void pr2_arm_kinematics::getKDLChainInfo | ( | const KDL::Chain & | chain, | |
kinematics_msgs::KinematicSolverInfo & | chain_info | |||
) |
Definition at line 436 of file pr2_arm_kinematics_utils.cpp.
int pr2_arm_kinematics::getKDLSegmentIndex | ( | const KDL::Chain & | chain, | |
const std::string & | name | |||
) |
Definition at line 447 of file pr2_arm_kinematics_utils.cpp.
bool pr2_arm_kinematics::getKDLTree | ( | const std::string & | xml_string, | |
const std::string & | root_name, | |||
const std::string & | tip_name, | |||
KDL::Tree & | kdl_chain | |||
) |
Definition at line 91 of file pr2_arm_kinematics_utils.cpp.
Eigen::Matrix4f pr2_arm_kinematics::KDLToEigenMatrix | ( | const KDL::Frame & | p | ) |
Definition at line 103 of file pr2_arm_kinematics_utils.cpp.
bool pr2_arm_kinematics::loadRobotModel | ( | ros::NodeHandle | node_handle, | |
urdf::Model & | robot_model, | |||
std::string & | root_name, | |||
std::string & | tip_name, | |||
std::string & | xml_string | |||
) |
Definition at line 39 of file pr2_arm_kinematics_utils.cpp.
Eigen::Matrix4f pr2_arm_kinematics::matrixInverse | ( | const Eigen::Matrix4f & | g | ) |
Definition at line 164 of file pr2_arm_kinematics_utils.cpp.
bool pr2_arm_kinematics::solveCosineEqn | ( | const double & | a, | |
const double & | b, | |||
const double & | c, | |||
double & | soln1, | |||
double & | soln2 | |||
) |
Definition at line 212 of file pr2_arm_kinematics_utils.cpp.
bool pr2_arm_kinematics::solveQuadratic | ( | const double & | a, | |
const double & | b, | |||
const double & | c, | |||
double * | x1, | |||
double * | x2 | |||
) |
Definition at line 134 of file pr2_arm_kinematics_utils.cpp.
const std::string pr2_arm_kinematics::FK_INFO_SERVICE = "get_fk_solver_info" [static] |
Definition at line 53 of file pr2_arm_kinematics.cpp.
const std::string pr2_arm_kinematics::FK_SERVICE = "get_fk" [static] |
Definition at line 51 of file pr2_arm_kinematics.cpp.
const double pr2_arm_kinematics::IK_DEFAULT_TIMEOUT = 10.0 [static] |
Definition at line 38 of file pr2_arm_kinematics_utils.cpp.
const double pr2_arm_kinematics::IK_EPS = 1e-5 [static] |
Definition at line 40 of file pr2_arm_kinematics_constants.h.
const std::string pr2_arm_kinematics::IK_INFO_SERVICE = "get_ik_solver_info" [static] |
Definition at line 52 of file pr2_arm_kinematics.cpp.
const std::string pr2_arm_kinematics::IK_SERVICE = "get_ik" [static] |
Definition at line 50 of file pr2_arm_kinematics.cpp.
const int pr2_arm_kinematics::NO_IK_SOLUTION = -1 [static] |
Definition at line 49 of file pr2_arm_ik_solver.h.
const int pr2_arm_kinematics::NUM_JOINTS_ARM7DOF = 7 [static] |
Definition at line 38 of file pr2_arm_kinematics_constants.h.
const int pr2_arm_kinematics::TIMED_OUT = -2 [static] |
Definition at line 50 of file pr2_arm_ik_solver.h.