Public Member Functions
bool	init ()
	Kinematics ()
Private 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.
int	getJointIndex (const std::string &name)
int	getKDLSegmentIndex (const std::string &name)
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.
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	loadModel (const std::string xml)
bool	readJoints (urdf::Model &robot_model)
Private Attributes
KDL::Chain	chain
ros::ServiceServer	fk_service
KDL::ChainFkSolverPos_recursive *	fk_solver
ros::ServiceServer	fk_solver_info_service
ros::ServiceServer	ik_service
ros::ServiceServer	ik_solver_info_service
KDL::ChainIkSolverPos_NR_JL *	ik_solver_pos
KDL::ChainIkSolverVel_pinv *	ik_solver_vel
kinematics_msgs::KinematicSolverInfo	info
KDL::JntArray	joint_max
KDL::JntArray	joint_min
ros::NodeHandle	nh
ros::NodeHandle	nh_private
unsigned int	num_joints
std::string	root_name
tf::TransformListener	tf_listener
std::string	tip_name

Detailed Description

Definition at line 23 of file arm_kinematics.cpp.

Constructor & Destructor Documentation

Kinematics::Kinematics ( )

Definition at line 86 of file arm_kinematics.cpp.

Member Function Documentation

bool Kinematics::getFKSolverInfo	(	kinematics_msgs::GetKinematicSolverInfo::Request &	request,
		kinematics_msgs::GetKinematicSolverInfo::Response &	response
	)		`[private]`

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 301 of file arm_kinematics.cpp.

bool Kinematics::getIKSolverInfo	(	kinematics_msgs::GetKinematicSolverInfo::Request &	request,
		kinematics_msgs::GetKinematicSolverInfo::Response &	response
	)		`[private]`

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 295 of file arm_kinematics.cpp.

int Kinematics::getJointIndex ( const std::string & name ) [private]

Definition at line 225 of file arm_kinematics.cpp.

int Kinematics::getKDLSegmentIndex ( const std::string & name ) [private]

Definition at line 233 of file arm_kinematics.cpp.

bool Kinematics::getPositionFK	(	kinematics_msgs::GetPositionFK::Request &	request,
		kinematics_msgs::GetPositionFK::Response &	response
	)		`[private]`

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 307 of file arm_kinematics.cpp.

bool Kinematics::getPositionIK	(	kinematics_msgs::GetPositionIK::Request &	request,
		kinematics_msgs::GetPositionIK::Response &	response
	)		`[private]`

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 244 of file arm_kinematics.cpp.

bool Kinematics::init ( )

Definition at line 89 of file arm_kinematics.cpp.

bool Kinematics::loadModel ( const std::string xml ) [private]

Definition at line 139 of file arm_kinematics.cpp.

bool Kinematics::readJoints ( urdf::Model & robot_model ) [private]