WamIK Class Reference

#include <wam_ik.h>

List of all members.

Public Member Functions
void	ikPub (void)
	WamIK ()
Private Member Functions
void	joint_states_callback (const sensor_msgs::JointState::ConstPtr &msg)
bool	pose_moveCallback (iri_wam_common_msgs::pose_move::Request &req, iri_wam_common_msgs::pose_move::Response &res)
bool	wamikCallback (iri_wam_common_msgs::wamInverseKinematics::Request &req, iri_wam_common_msgs::wamInverseKinematics::Response &res)
Static Private Member Functions
static bool	ik (std::vector< double > pose, std::vector< double > currentjoints, std::vector< double > &joints)
Private Attributes
std::vector< double >	currentjoints
sensor_msgs::JointState	ik_joints_msg
ros::Publisher	ik_joints_publisher_
ros::ServiceClient	joint_move_client
iri_wam_common_msgs::joints_move	joint_move_srv
ros::Subscriber	joint_states_subscriber
Eigen::VectorXd	joints_
ros::NodeHandle	nh_
ros::ServiceServer	pose_move_server
ros::ServiceServer	wamik_server

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Detailed Description

Definition at line 26 of file wam_ik.h.

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Constructor & Destructor Documentation

WamIK::WamIK

(

)

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Member Function Documentation

static bool WamIK::ik	(	std::vector< double >	pose,
		std::vector< double >	currentjoints,
		std::vector< double > &	joints
	)		[static, private]

void WamIK::ikPub

(

void

)

void WamIK::joint_states_callback

(

const sensor_msgs::JointState::ConstPtr &

msg

)

[private]

bool WamIK::pose_moveCallback	(	iri_wam_common_msgs::pose_move::Request &	req,
		iri_wam_common_msgs::pose_move::Response &	res
	)		[private]

bool WamIK::wamikCallback	(	iri_wam_common_msgs::wamInverseKinematics::Request &	req,
		iri_wam_common_msgs::wamInverseKinematics::Response &	res
	)		[private]

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Member Data Documentation

std::vector<double> WamIK::currentjoints [private]

Definition at line 37 of file wam_ik.h.

sensor_msgs::JointState WamIK::ik_joints_msg [private]

Definition at line 30 of file wam_ik.h.

ros::Publisher WamIK::ik_joints_publisher_ [private]

Definition at line 31 of file wam_ik.h.

ros::ServiceClient WamIK::joint_move_client [private]

Definition at line 46 of file wam_ik.h.

iri_wam_common_msgs::joints_move WamIK::joint_move_srv [private]

Definition at line 47 of file wam_ik.h.

ros::Subscriber WamIK::joint_states_subscriber [private]

Definition at line 35 of file wam_ik.h.

Eigen::VectorXd WamIK::joints_ [private]

Definition at line 32 of file wam_ik.h.

ros::NodeHandle WamIK::nh_ [private]

Definition at line 28 of file wam_ik.h.

ros::ServiceServer WamIK::pose_move_server [private]

Definition at line 40 of file wam_ik.h.

ros::ServiceServer WamIK::wamik_server [private]

Definition at line 42 of file wam_ik.h.

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The documentation for this class was generated from the following file:

• wam_ik.h