#include <ros/ros.h>#include <urdf/model.h>#include <vector>#include <Eigen/Array>#include <kdl/frames.hpp>#include <kdl/jntarray.hpp>#include <kdl/tree.hpp>#include <kdl_parser/kdl_parser.hpp>#include <tf/tf.h>#include <tf/transform_listener.h>#include <tf_conversions/tf_kdl.h>#include <kinematics_base/kinematics_base.h>#include <kinematics_msgs/GetPositionFK.h>#include <kinematics_msgs/GetPositionIK.h>#include <kinematics_msgs/GetConstraintAwarePositionIK.h>#include <kinematics_msgs/GetKinematicSolverInfo.h>#include <angles/angles.h>
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Namespaces | |
| namespace | arm_kinematics_constraint_aware |
Functions | |
| bool | arm_kinematics_constraint_aware::checkConstraintAwareIKService (kinematics_msgs::GetConstraintAwarePositionIK::Request &request, kinematics_msgs::GetConstraintAwarePositionIK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| bool | arm_kinematics_constraint_aware::checkFKService (kinematics_msgs::GetPositionFK::Request &request, kinematics_msgs::GetPositionFK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| bool | arm_kinematics_constraint_aware::checkIKService (kinematics_msgs::GetPositionIK::Request &request, kinematics_msgs::GetPositionIK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| bool | arm_kinematics_constraint_aware::checkJointNames (const std::vector< std::string > &joint_names, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| bool | arm_kinematics_constraint_aware::checkLinkName (const std::string &link_name, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| bool | arm_kinematics_constraint_aware::checkLinkNames (const std::vector< std::string > &link_names, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| bool | arm_kinematics_constraint_aware::checkRobotState (motion_planning_msgs::RobotState &robot_state, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| double | arm_kinematics_constraint_aware::computeEuclideanDistance (const std::vector< double > &array_1, const KDL::JntArray &array_2) |
| bool | arm_kinematics_constraint_aware::convertPoseToRootFrame (const geometry_msgs::PoseStamped &pose_msg, KDL::Frame &pose_kdl, const std::string &root_frame, const tf::TransformListener &tf) |
| bool | arm_kinematics_constraint_aware::convertPoseToRootFrame (const geometry_msgs::PoseStamped &pose_msg, geometry_msgs::PoseStamped &pose_msg_out, const std::string &root_frame, const tf::TransformListener &tf) |
| double | arm_kinematics_constraint_aware::distance (const urdf::Pose &transform) |
| bool | arm_kinematics_constraint_aware::getChainInfo (const std::string &name, kinematics_msgs::KinematicSolverInfo &chain_info) |
| bool | arm_kinematics_constraint_aware::getChainInfoFromRobotModel (urdf::Model &robot_model, const std::string &root_name, const std::string &tip_name, kinematics_msgs::KinematicSolverInfo &chain_info) |
| int | arm_kinematics_constraint_aware::getJointIndex (const std::string &name, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| bool | arm_kinematics_constraint_aware::getKDLChain (const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain) |
| void | arm_kinematics_constraint_aware::getKDLChainInfo (const KDL::Chain &chain, kinematics_msgs::KinematicSolverInfo &chain_info) |
| int | arm_kinematics_constraint_aware::getKDLSegmentIndex (const KDL::Chain &chain, const std::string &name) |
| bool | arm_kinematics_constraint_aware::getKDLTree (const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Tree &kdl_chain) |
| Eigen::Matrix4f | arm_kinematics_constraint_aware::KDLToEigenMatrix (const KDL::Frame &p) |
| motion_planning_msgs::ArmNavigationErrorCodes | arm_kinematics_constraint_aware::kinematicsErrorCodeToMotionPlanningErrorCode (const int &kinematics_error_code) |
| bool | arm_kinematics_constraint_aware::loadRobotModel (ros::NodeHandle node_handle, urdf::Model &robot_model, std::string &root_name, std::string &tip_name, std::string &xml_string) |
| Eigen::Matrix4f | arm_kinematics_constraint_aware::matrixInverse (const Eigen::Matrix4f &g) |
| void | arm_kinematics_constraint_aware::reorderJointState (sensor_msgs::JointState &joint_state, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| bool | arm_kinematics_constraint_aware::solveCosineEqn (const double &a, const double &b, const double &c, double &soln1, double &soln2) |
| bool | arm_kinematics_constraint_aware::solveQuadratic (const double &a, const double &b, const double &c, double *x1, double *x2) |