Public Member Functions | Private Member Functions | Static Private Member Functions | Private Attributes
WamIKJ Class Reference

#include <wam_ikj.h>

List of all members.

Public Member Functions

void ikPub (void)
 WamIKJ ()

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 void CFpseudoinverse (Eigen::MatrixXd J, Eigen::MatrixXd &Ji, double nu, double s0)
static void clampjoints (Eigen::VectorXd q, Eigen::MatrixXd &H)
static Eigen::MatrixXd cpinv (Eigen::MatrixXd J, Eigen::MatrixXd H)
static Eigen::MatrixXd crossprod (Eigen::MatrixXd u, Eigen::MatrixXd v)
static void dhfunct (Eigen::VectorXd q, Eigen::VectorXd &dH)
static void DHmatrix (double alpha, double a, double d, double &theta, Eigen::MatrixXd &T)
static void dotprod (Eigen::MatrixXd u, Eigen::MatrixXd v, double &p)
static void Dpseudoinverse (Eigen::MatrixXd J, Eigen::MatrixXd &Ji, double lambda)
static void errortrans (Eigen::MatrixXd Tcurrent, Eigen::MatrixXd Tdesired, Eigen::VectorXd &errc)
static void filtersols (Eigen::MatrixXd qsol, Eigen::VectorXd &sol)
static void fkine (Eigen::VectorXd theta, Eigen::MatrixXd &Tf, Eigen::MatrixXd &Jn)
static void Fpseudoinverse (Eigen::MatrixXd J, Eigen::MatrixXd &Ji, double lambda, double eps)
static double fubeta (double x, double beta)
static void HjlCONT (Eigen::VectorXd q, Eigen::MatrixXd &H, double b)
static bool ik (std::vector< double > pose, std::vector< double > currentjoints, std::vector< double > &joints)
static Eigen::MatrixXd lcpinv (Eigen::MatrixXd Q, Eigen::MatrixXd W)
static void manipgrad (Eigen::VectorXd q, double &man, Eigen::VectorXd &gradman)
static void manipulability (Eigen::MatrixXd J, double &man)
static Eigen::VectorXd pi2piwam (Eigen::VectorXd q)
static void potentialfunction (Eigen::VectorXd qref, Eigen::VectorXd &q, double &potq)
static void pseudoinverse (Eigen::MatrixXd J, Eigen::MatrixXd &Ji, Eigen::MatrixXd &U, Eigen::MatrixXd &V, Eigen::MatrixXd &S)
static Eigen::MatrixXd rcpinv (Eigen::MatrixXd Q, Eigen::MatrixXd W)
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)
static void svdJ (Eigen::MatrixXd J, Eigen::MatrixXd &U, Eigen::MatrixXd &V, Eigen::MatrixXd &S)

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

Detailed Description

Definition at line 24 of file wam_ikj.h.

Constructor & Destructor Documentation

WamIKJ::WamIKJ ( )

Definition at line 16 of file wam_ikj.cpp.

Member Function Documentation

void WamIKJ::CFpseudoinverse ( Eigen::MatrixXd  J,
Eigen::MatrixXd &  Ji,
double  nu,
double  s0 
) [static, private]

Definition at line 785 of file wam_ikj.cpp.

void WamIKJ::clampjoints ( Eigen::VectorXd  q,
Eigen::MatrixXd &  H 
) [static, private]

Definition at line 697 of file wam_ikj.cpp.

MatrixXd WamIKJ::cpinv ( Eigen::MatrixXd  J,
Eigen::MatrixXd  H 
) [static, private]

Definition at line 583 of file wam_ikj.cpp.

MatrixXd WamIKJ::crossprod ( Eigen::MatrixXd  u,
Eigen::MatrixXd  v 
) [static, private]

Definition at line 931 of file wam_ikj.cpp.

void WamIKJ::dhfunct ( Eigen::VectorXd  q,
Eigen::VectorXd &  dH 
) [static, private]

Definition at line 686 of file wam_ikj.cpp.

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

Definition at line 995 of file wam_ikj.cpp.

void WamIKJ::dotprod ( Eigen::MatrixXd  u,
Eigen::MatrixXd  v,
double &  p 
) [static, private]

Definition at line 914 of file wam_ikj.cpp.

void WamIKJ::Dpseudoinverse ( Eigen::MatrixXd  J,
Eigen::MatrixXd &  Ji,
double  lambda 
) [static, private]

Definition at line 768 of file wam_ikj.cpp.

void WamIKJ::errortrans ( Eigen::MatrixXd  Tcurrent,
Eigen::MatrixXd  Tdesired,
Eigen::VectorXd &  errc 
) [static, private]

Definition at line 941 of file wam_ikj.cpp.

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

Definition at line 968 of file wam_ikj.cpp.

void WamIKJ::fkine ( Eigen::VectorXd  theta,
Eigen::MatrixXd &  Tf,
Eigen::MatrixXd &  Jn 
) [static, private]

Definition at line 883 of file wam_ikj.cpp.

void WamIKJ::Fpseudoinverse ( Eigen::MatrixXd  J,
Eigen::MatrixXd &  Ji,
double  lambda,
double  eps 
) [static, private]

Definition at line 801 of file wam_ikj.cpp.

double WamIKJ::fubeta ( double  x,
double  beta 
) [static, private]

Definition at line 680 of file wam_ikj.cpp.

void WamIKJ::HjlCONT ( Eigen::VectorXd  q,
Eigen::MatrixXd &  H,
double  b 
) [static, private]

Definition at line 651 of file wam_ikj.cpp.

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

Definition at line 180 of file wam_ikj.cpp.

void WamIKJ::ikPub ( void  )

Definition at line 50 of file wam_ikj.cpp.

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

Definition at line 59 of file wam_ikj.cpp.

MatrixXd WamIKJ::lcpinv ( Eigen::MatrixXd  Q,
Eigen::MatrixXd  W 
) [static, private]

Definition at line 572 of file wam_ikj.cpp.

void WamIKJ::manipgrad ( Eigen::VectorXd  q,
double &  man,
Eigen::VectorXd &  gradman 
) [static, private]

Definition at line 717 of file wam_ikj.cpp.

void WamIKJ::manipulability ( Eigen::MatrixXd  J,
double &  man 
) [static, private]

Definition at line 711 of file wam_ikj.cpp.

VectorXd WamIKJ::pi2piwam ( Eigen::VectorXd  q) [static, private]

Definition at line 637 of file wam_ikj.cpp.

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

Definition at line 67 of file wam_ikj.cpp.

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

Definition at line 1028 of file wam_ikj.cpp.

void WamIKJ::pseudoinverse ( Eigen::MatrixXd  J,
Eigen::MatrixXd &  Ji,
Eigen::MatrixXd &  U,
Eigen::MatrixXd &  V,
Eigen::MatrixXd &  S 
) [static, private]

Definition at line 739 of file wam_ikj.cpp.

MatrixXd WamIKJ::rcpinv ( Eigen::MatrixXd  Q,
Eigen::MatrixXd  W 
) [static, private]

Definition at line 559 of file wam_ikj.cpp.

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

Definition at line 1016 of file wam_ikj.cpp.

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

Definition at line 1073 of file wam_ikj.cpp.

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

Definition at line 1053 of file wam_ikj.cpp.

void WamIKJ::svdJ ( Eigen::MatrixXd  J,
Eigen::MatrixXd &  U,
Eigen::MatrixXd &  V,
Eigen::MatrixXd &  S 
) [static, private]

Definition at line 841 of file wam_ikj.cpp.

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

Definition at line 131 of file wam_ikj.cpp.

Member Data Documentation

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

Definition at line 36 of file wam_ikj.h.

sensor_msgs::JointState WamIKJ::ik_joints_msg [private]

Definition at line 28 of file wam_ikj.h.

ros::Publisher WamIKJ::ik_joints_publisher_ [private]

Definition at line 29 of file wam_ikj.h.

ros::ServiceClient WamIKJ::joint_move_client [private]

Definition at line 45 of file wam_ikj.h.

iri_wam_common_msgs::joints_move WamIKJ::joint_move_srv [private]

Definition at line 46 of file wam_ikj.h.

ros::Subscriber WamIKJ::joint_states_subscriber [private]

Definition at line 34 of file wam_ikj.h.

Eigen::VectorXd WamIKJ::joints_ [private]

Definition at line 30 of file wam_ikj.h.

ros::NodeHandle WamIKJ::nh_ [private]

Definition at line 26 of file wam_ikj.h.

ros::ServiceServer WamIKJ::pose_move_server [private]

Definition at line 39 of file wam_ikj.h.

ros::ServiceServer WamIKJ::wamik_server [private]

Definition at line 41 of file wam_ikj.h.

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

iri_wam_ik
Author(s): Adria Colomer
autogenerated on Fri Dec 6 2013 20:07:41