WamIkKdl Class Reference

#include <wam_ik_kdl.h>

List of all members.

Public Member Functions
	WamIkKdl ()
Private Member Functions
bool	ik (std::vector< double > pose, std::vector< double > currentjoints, std::vector< double > &joints)
void	joint_states_callback (const sensor_msgs::JointState::ConstPtr &msg)
bool	move_in_xyzquat_Callback (iri_wam_common_msgs::pose_move::Request &req, iri_wam_common_msgs::pose_move::Response &res)
bool	print_ik_xyzquat_Callback (iri_wam_common_msgs::wamInverseKinematics::Request &req, iri_wam_common_msgs::wamInverseKinematics::Response &res)
Private Attributes
std::vector< double >	currentjoints
ros::Subscriber	joint_states_subscriber
ros::ServiceClient	move_in_joints_client
iri_wam_common_msgs::joints_move	move_in_joints_srv
ros::ServiceServer	move_in_xyzquat_server
ros::NodeHandle	nh_
unsigned int	num_joints_
ros::ServiceServer	print_ik_xyzquat_server
KDL::Chain	wam63_

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Detailed Description

Definition at line 34 of file wam_ik_kdl.h.

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Constructor & Destructor Documentation

WamIkKdl::WamIkKdl

(

)

Definition at line 5 of file wam_ik_kdl.cpp.

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Member Function Documentation

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

Definition at line 155 of file wam_ik_kdl.cpp.

void WamIkKdl::joint_states_callback

(

const sensor_msgs::JointState::ConstPtr &

msg

)

[private]

Definition at line 47 of file wam_ik_kdl.cpp.

bool WamIkKdl::move_in_xyzquat_Callback	(	iri_wam_common_msgs::pose_move::Request &	req,
		iri_wam_common_msgs::pose_move::Response &	res
	)		[private]

Definition at line 55 of file wam_ik_kdl.cpp.

bool WamIkKdl::print_ik_xyzquat_Callback	(	iri_wam_common_msgs::wamInverseKinematics::Request &	req,
		iri_wam_common_msgs::wamInverseKinematics::Response &	res
	)		[private]

Definition at line 107 of file wam_ik_kdl.cpp.

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Member Data Documentation

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

Definition at line 39 of file wam_ik_kdl.h.

ros::Subscriber WamIkKdl::joint_states_subscriber [private]

Definition at line 45 of file wam_ik_kdl.h.

ros::ServiceClient WamIkKdl::move_in_joints_client [private]

Definition at line 52 of file wam_ik_kdl.h.

iri_wam_common_msgs::joints_move WamIkKdl::move_in_joints_srv [private]

Definition at line 53 of file wam_ik_kdl.h.

ros::ServiceServer WamIkKdl::move_in_xyzquat_server [private]

Definition at line 48 of file wam_ik_kdl.h.

ros::NodeHandle WamIkKdl::nh_ [private]

Definition at line 41 of file wam_ik_kdl.h.

unsigned int WamIkKdl::num_joints_ [private]

Definition at line 38 of file wam_ik_kdl.h.

ros::ServiceServer WamIkKdl::print_ik_xyzquat_server [private]

Definition at line 49 of file wam_ik_kdl.h.

KDL::Chain WamIkKdl::wam63_ [private]

Definition at line 37 of file wam_ik_kdl.h.

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

• wam_ik_kdl.h
• wam_ik_kdl.cpp