#include <wam_ikac.h>

Public Member Functions
void	ikPub (void)
	WamIKAC ()
Private Member Functions
void	joint_states_callback (const sensor_msgs::JointState::ConstPtr &msg)
bool	wamikCallback (iri_wam_common_msgs::wamInverseKinematics::Request &req, iri_wam_common_msgs::wamInverseKinematics::Response &res)
bool	wamikCallbackFromPose (iri_wam_common_msgs::wamInverseKinematicsFromPose::Request &req, iri_wam_common_msgs::wamInverseKinematicsFromPose::Response &res)
Static Private Member Functions
static void	basicsols (Eigen::MatrixXd qsol, Eigen::MatrixXd &qaux, Eigen::VectorXd sol)
static void	bestsol (Eigen::MatrixXd qsol, Eigen::VectorXd sol, Eigen::VectorXd qref, Eigen::VectorXd &q, double &potq)
static void	DHmatrix (double alpha, double a, double d, double &theta, Eigen::MatrixXd &T)
static void	exactikine (Eigen::MatrixXd T0, double q10, Eigen::MatrixXd &qsol, Eigen::VectorXd &sol)
static void	filtersols (Eigen::MatrixXd qsol, Eigen::VectorXd &sol)
static void	getq1 (Eigen::VectorXd cjoints, float i, double &q10, double step)
static bool	ik (std::vector< double > pose, std::vector< double > currentjoints, std::vector< double > &joints)
static void	initialelbows (Eigen::VectorXd q, Eigen::MatrixXd T0, Eigen::VectorXd &PL, Eigen::VectorXd &PJ)
static void	optimizesol (Eigen::MatrixXd q, Eigen::MatrixXd T0, Eigen::VectorXd &qbest, double &potq, Eigen::VectorXd qref)
static void	potentialfunction (Eigen::VectorXd qref, Eigen::VectorXd &q, double &potq)
static void	skewop (Eigen::Matrix3d &M, Eigen::Vector3d v)
static void	soltrig (double a, double b, double c, Eigen::MatrixXd &q2sol2)
static void	sphericalikine (Eigen::MatrixXd T0, Eigen::MatrixXd T4, Eigen::Vector2d &q5, Eigen::Vector2d &q6, Eigen::Vector2d &q7)
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_
tf::TransformListener	listener_
ros::NodeHandle	nh_
tf::StampedTransform	tcp_H_wam7_
ros::ServiceServer	wamik_server
ros::ServiceServer	wamik_server_fromPose

Detailed Description

Definition at line 26 of file wam_ikac.h.

Constructor & Destructor Documentation

WamIKAC::WamIKAC ( )

Definition at line 10 of file wam_ikac.cpp.

Member Function Documentation

void WamIKAC::basicsols	(	Eigen::MatrixXd	qsol,
		Eigen::MatrixXd &	qaux,
		Eigen::VectorXd	sol
	)		`[static, private]`

Definition at line 464 of file wam_ikac.cpp.

void WamIKAC::bestsol	(	Eigen::MatrixXd	qsol,
		Eigen::VectorXd	sol,
		Eigen::VectorXd	qref,
		Eigen::VectorXd &	q,
		double &	potq
	)		`[static, private]`

Definition at line 622 of file wam_ikac.cpp.

void WamIKAC::DHmatrix	(	double	alpha,
		double	a,
		double	d,
		double &	theta,
		Eigen::MatrixXd &	T
	)		`[static, private]`

Definition at line 350 of file wam_ikac.cpp.

void WamIKAC::exactikine	(	Eigen::MatrixXd	T0,
		double	q10,
		Eigen::MatrixXd &	qsol,
		Eigen::VectorXd &	sol
	)		`[static, private]`

Definition at line 373 of file wam_ikac.cpp.

void WamIKAC::filtersols	(	Eigen::MatrixXd	qsol,
		Eigen::VectorXd &	sol
	)		`[static, private]`

Definition at line 323 of file wam_ikac.cpp.

void WamIKAC::getq1	(	Eigen::VectorXd	cjoints,
		float	i,
		double &	q10,
		double	step
	)		`[static, private]`

Definition at line 614 of file wam_ikac.cpp.

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

Definition at line 183 of file wam_ikac.cpp.

void WamIKAC::ikPub ( void )

Definition at line 45 of file wam_ikac.cpp.

void WamIKAC::initialelbows	(	Eigen::VectorXd	q,
		Eigen::MatrixXd	T0,
		Eigen::VectorXd &	PL,
		Eigen::VectorXd &	PJ
	)		`[static, private]`

Definition at line 688 of file wam_ikac.cpp.

void WamIKAC::joint_states_callback ( const sensor_msgs::JointState::ConstPtr & msg ) [private]

Definition at line 54 of file wam_ikac.cpp.

void WamIKAC::optimizesol	(	Eigen::MatrixXd	q,
		Eigen::MatrixXd	T0,
		Eigen::VectorXd &	qbest,
		double &	potq,
		Eigen::VectorXd	qref
	)		`[static, private]`

Definition at line 501 of file wam_ikac.cpp.

void WamIKAC::potentialfunction	(	Eigen::VectorXd	qref,
		Eigen::VectorXd &	q,
		double &	potq
	)		`[static, private]`

Definition at line 644 of file wam_ikac.cpp.

void WamIKAC::skewop	(	Eigen::Matrix3d &	M,
		Eigen::Vector3d	v
	)		`[static, private]`

Definition at line 604 of file wam_ikac.cpp.

void WamIKAC::soltrig	(	double	a,
		double	b,
		double	c,
		Eigen::MatrixXd &	q2sol2
	)		`[static, private]`

Definition at line 709 of file wam_ikac.cpp.

void WamIKAC::sphericalikine	(	Eigen::MatrixXd	T0,
		Eigen::MatrixXd	T4,
		Eigen::Vector2d &	q5,
		Eigen::Vector2d &	q6,
		Eigen::Vector2d &	q7
	)		`[static, private]`

Definition at line 669 of file wam_ikac.cpp.

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

Definition at line 128 of file wam_ikac.cpp.

bool WamIKAC::wamikCallbackFromPose	(	iri_wam_common_msgs::wamInverseKinematicsFromPose::Request &	req,
		iri_wam_common_msgs::wamInverseKinematicsFromPose::Response &	res
	)		`[private]`