Public Member Functions | Private Member Functions | Private Attributes
arm_kinematics_constraint_aware::ArmKinematicsConstraintAware Class Reference

#include <arm_kinematics_constraint_aware.h>

List of all members.

Public Member Functions

 ArmKinematicsConstraintAware ()
bool getConstraintAwarePositionIK (kinematics_msgs::GetConstraintAwarePositionIK::Request &request, kinematics_msgs::GetConstraintAwarePositionIK::Response &response)
 This method searches for and returns the closest solution to the initial guess in the first set of solutions it finds.
bool getFKSolverInfo (kinematics_msgs::GetKinematicSolverInfo::Request &request, kinematics_msgs::GetKinematicSolverInfo::Response &response)
bool getIKSolverInfo (kinematics_msgs::GetKinematicSolverInfo::Request &request, kinematics_msgs::GetKinematicSolverInfo::Response &response)
bool getPositionFK (kinematics_msgs::GetPositionFK::Request &request, kinematics_msgs::GetPositionFK::Response &response)
bool getPositionIK (kinematics_msgs::GetPositionIK::Request &request, kinematics_msgs::GetPositionIK::Response &response)
bool isActive ()
virtual ~ArmKinematicsConstraintAware ()

Private Member Functions

void advertiseBaseKinematicsServices ()
void advertiseConstraintIKService ()
bool isReady (arm_navigation_msgs::ArmNavigationErrorCodes &error_code)
void printStringVec (const std::string &prefix, const std::vector< std::string > &string_vector)
void sendEndEffectorPose (const planning_models::KinematicState *state, bool valid)

Private Attributes

bool active_
kinematics_msgs::KinematicSolverInfo chain_info_
planning_environment::CollisionModelsInterfacecollision_models_interface_
ros::Publisher display_trajectory_publisher_
ros::ServiceServer fk_service_
ros::ServiceServer fk_solver_info_service_
std::string group_
ros::ServiceServer ik_collision_service_
ros::ServiceServer ik_service_
ros::ServiceServer ik_solver_info_service_
pluginlib::ClassLoader
< kinematics::KinematicsBase
kinematics_loader_
ros::NodeHandle node_handle_
ros::NodeHandle root_handle_
arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAwaresolver_
ros::Publisher vis_marker_array_publisher_
ros::Publisher vis_marker_publisher_
bool visualize_solution_

Detailed Description

Definition at line 68 of file arm_kinematics_constraint_aware.h.


Constructor & Destructor Documentation

Definition at line 51 of file arm_kinematics_constraint_aware.cpp.

Definition at line 84 of file arm_kinematics_constraint_aware.h.


Member Function Documentation

Definition at line 95 of file arm_kinematics_constraint_aware.cpp.

Definition at line 103 of file arm_kinematics_constraint_aware.cpp.

This method searches for and returns the closest solution to the initial guess in the first set of solutions it finds.

Returns:
< 0 if no solution is found
Parameters:
q_inThe initial guess for the inverse kinematics solution. The solver uses the joint value q_init(pr2_ik_->free_angle_) as as an input to the inverse kinematics. pr2_ik_->free_angle_ can either be 0 or 2 corresponding to the shoulder pan or shoulder roll angle
p_inA KDL::Frame representation of the position of the end-effector for which the IK is being solved.
q_outA std::vector of KDL::JntArray containing all found solutions.
timeoutThe amount of time (in seconds) to spend looking for a solution.

Definition at line 125 of file arm_kinematics_constraint_aware.cpp.

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Definition at line 109 of file arm_kinematics_constraint_aware.cpp.

void arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::printStringVec ( const std::string &  prefix,
const std::vector< std::string > &  string_vector 
) [private]

Definition at line 181 of file arm_kinematics_constraint_aware.cpp.


Member Data Documentation

Definition at line 120 of file arm_kinematics_constraint_aware.h.

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


arm_kinematics_constraint_aware
Author(s): Sachin Chitta
autogenerated on Mon Dec 2 2013 12:38:08