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sr_kinematics.h File Reference

A ROS node used to subscribe to the tf topic on which the reverse kinematics targets are published. Those targets are then transformed into a pose and sent to the arm_kinematics node which tries to compute the reverse kinematics. On success, the computed targets are then sent to the arm and to the hand. More...

#include <ros/ros.h>
#include <kdl_parser/kdl_parser.hpp>
#include <boost/smart_ptr.hpp>
#include <boost/thread.hpp>
#include <tf/transform_listener.h>
#include <tf_conversions/tf_kdl.h>
#include <sensor_msgs/JointState.h>
#include <geometry_msgs/PoseStamped.h>
#include "kinematics_msgs/GetPositionIK.h"
#include "kinematics_msgs/PositionIKRequest.h"
#include "motion_planning_msgs/RobotState.h"
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Classes

class  shadowrobot::SrKinematics

Namespaces

namespace  shadowrobot

Detailed Description

A ROS node used to subscribe to the tf topic on which the reverse kinematics targets are published. Those targets are then transformed into a pose and sent to the arm_kinematics node which tries to compute the reverse kinematics. On success, the computed targets are then sent to the arm and to the hand.

Author:
Ugo Cupcic <ugo@shadowrobot.com>, Contact <contact@shadowrobot.com>
Date:
Thu Jul 15 12:15:30 2010

Definition in file sr_kinematics.h.

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sr_hand
Author(s): Ugo Cupcic / ugo@shadowrobot.com, contact@shadowrobot.com
autogenerated on Sat Mar 2 14:08:18 2013