Classes
class	InitFailed
Public Member Functions
	Kinematics ()
Private Member Functions
double	calculateEps (const KDL::Frame &f, const KDL::Frame &ref, const Eigen::MatrixXd &weight=Eigen::MatrixXd::Identity(6, 6))
bool	getFKSolverInfo (kinematics_msgs::GetKinematicSolverInfo::Request &request, kinematics_msgs::GetKinematicSolverInfo::Response &response)
	This is the basic kinematics info service that will return information about the kinematics node.
bool	getIKSolverInfo (kinematics_msgs::GetKinematicSolverInfo::Request &request, kinematics_msgs::GetKinematicSolverInfo::Response &response)
	This is the basic kinematics info service that will return information about the kinematics node.
int	getJointIndex (const std::string &name)
int	getKDLSegmentIndex (const std::string &name)
bool	getPositionFK (kinematics_msgs::GetPositionFK::Request &request, kinematics_msgs::GetPositionFK::Response &response)
	This is the basic forward kinematics service that will return information about the kinematics node.
bool	getPositionIK (kinematics_msgs::GetPositionIK::Request &request, kinematics_msgs::GetPositionIK::Response &response)
	This is the basic IK service method that will compute and return an IK solution.
bool	getWeightedIK (kdl_arm_kinematics::GetWeightedIK::Request &request, kdl_arm_kinematics::GetWeightedIK::Response &response)
void	initializeWeights (const kdl_arm_kinematics::KDLWeights &msg, Eigen::MatrixXd &weight_ts, Eigen::MatrixXd &weight_js, double &lambda)
bool	loadModel (const std::string xml)
void	parseWeightParams (ros::NodeHandle &nh)
bool	readJoints (urdf::Model &robot_model)
bool	solveCartToJnt (const KDL::JntArray &q_init, const KDL::Frame &q_in, KDL::JntArray &q_out, const KDL::Frame &tool_frame=KDL::Frame::Identity())
bool	solveCartToJnt (const KDL::JntArray &q_init, const KDL::Frame &q_in, KDL::JntArray &q_out, const KDL::Frame &tool_frame, const Eigen::MatrixXd &weight_ts, const Eigen::MatrixXd &weight_js, const double lambda)
Private Attributes
KDL::Chain	chain
double	default_lambda
Eigen::MatrixXd	default_weight_js
Eigen::MatrixXd	default_weight_ts
double	epsilon
ros::ServiceServer	fk_service
ros::ServiceServer	fk_solver_info_service
ros::ServiceServer	ik_service
ros::ServiceServer	ik_solver_info_service
kinematics_msgs::KinematicSolverInfo	info
KDL::JntArray	joint_max
KDL::JntArray	joint_min
int	max_iterations
ros::NodeHandle	nh
ros::NodeHandle	nh_private
unsigned int	num_joints
std::string	root_name
tf::TransformListener	tf_listener
std::string	tip_name
ros::ServiceServer	weighted_ik_service

Detailed Description

Definition at line 24 of file arm_kinematics.cpp.

Constructor & Destructor Documentation

Kinematics::Kinematics ( )

Definition at line 109 of file arm_kinematics.cpp.

Member Function Documentation

double Kinematics::calculateEps	(	const KDL::Frame &	f,
		const KDL::Frame &	ref,
		const Eigen::MatrixXd &	weight = `Eigen::MatrixXd::Identity(6,6)`
	)		`[private]`

Definition at line 390 of file arm_kinematics.cpp.

bool Kinematics::getFKSolverInfo	(	kinematics_msgs::GetKinematicSolverInfo::Request &	request,
		kinematics_msgs::GetKinematicSolverInfo::Response &	response
	)		`[private]`

This is the basic kinematics info service that will return information about the kinematics node.

Parameters:

A	request message. See service definition for GetKinematicSolverInfo for more information on this message.
The	response message. See service definition for GetKinematicSolverInfo for more information on this message.

Definition at line 506 of file arm_kinematics.cpp.

bool Kinematics::getIKSolverInfo	(	kinematics_msgs::GetKinematicSolverInfo::Request &	request,
		kinematics_msgs::GetKinematicSolverInfo::Response &	response
	)		`[private]`

This is the basic kinematics info service that will return information about the kinematics node.

Parameters:

A	request message. See service definition for GetKinematicSolverInfo for more information on this message.
The	response message. See service definition for GetKinematicSolverInfo for more information on this message.

Definition at line 500 of file arm_kinematics.cpp.

int Kinematics::getJointIndex ( const std::string & name ) [private]

Definition at line 303 of file arm_kinematics.cpp.

int Kinematics::getKDLSegmentIndex ( const std::string & name ) [private]

Definition at line 311 of file arm_kinematics.cpp.

bool Kinematics::getPositionFK	(	kinematics_msgs::GetPositionFK::Request &	request,
		kinematics_msgs::GetPositionFK::Response &	response
	)		`[private]`

This is the basic forward kinematics service that will return information about the kinematics node.

Parameters:

A	request message. See service definition for GetPositionFK for more information on this message.
The	response message. See service definition for GetPositionFK for more information on this message.

Definition at line 512 of file arm_kinematics.cpp.

bool Kinematics::getPositionIK	(	kinematics_msgs::GetPositionIK::Request &	request,
		kinematics_msgs::GetPositionIK::Response &	response
	)		`[private]`

This is the basic IK service method that will compute and return an IK solution.

Parameters:

A	request message. See service definition for GetPositionIK for more information on this message.
The	response message. See service definition for GetPositionIK for more information on this message.

Definition at line 441 of file arm_kinematics.cpp.

bool Kinematics::getWeightedIK	(	kdl_arm_kinematics::GetWeightedIK::Request &	request,
		kdl_arm_kinematics::GetWeightedIK::Response &	response
	)		`[private]`

Get the weight matrices

Definition at line 558 of file arm_kinematics.cpp.

void Kinematics::initializeWeights	(	const kdl_arm_kinematics::KDLWeights &	msg,
		Eigen::MatrixXd &	weight_ts,
		Eigen::MatrixXd &	weight_js,
		double &	lambda
	)		`[private]`

Definition at line 412 of file arm_kinematics.cpp.

bool Kinematics::loadModel ( const std::string xml ) [private]

Definition at line 217 of file arm_kinematics.cpp.

void Kinematics::parseWeightParams ( ros::NodeHandle & nh ) [private]

Definition at line 149 of file arm_kinematics.cpp.

bool Kinematics::readJoints ( urdf::Model & robot_model ) [private]

Definition at line 242 of file arm_kinematics.cpp.

bool Kinematics::solveCartToJnt	(	const KDL::JntArray &	q_init,
		const KDL::Frame &	q_in,
		KDL::JntArray &	q_out,
		const KDL::Frame &	tool_frame = `KDL::Frame::Identity()`
	)		`[private]`

Definition at line 322 of file arm_kinematics.cpp.

bool Kinematics::solveCartToJnt	(	const KDL::JntArray &	q_init,
		const KDL::Frame &	q_in,
		KDL::JntArray &	q_out,
		const KDL::Frame &	tool_frame,
		const Eigen::MatrixXd &	weight_ts,
		const Eigen::MatrixXd &	weight_js,
		const double	lambda
	)		`[private]`