#include <arm_kinematics_constraint_aware.h>
Definition at line 68 of file arm_kinematics_constraint_aware.h.
Definition at line 51 of file arm_kinematics_constraint_aware.cpp.
virtual arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::~ArmKinematicsConstraintAware | ( | ) | [inline, virtual] |
Definition at line 84 of file arm_kinematics_constraint_aware.h.
void arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::advertiseBaseKinematicsServices | ( | ) | [private] |
Definition at line 95 of file arm_kinematics_constraint_aware.cpp.
void arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::advertiseConstraintIKService | ( | ) | [private] |
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.
q_in | The 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_in | A KDL::Frame representation of the position of the end-effector for which the IK is being solved. |
q_out | A std::vector of KDL::JntArray containing all found solutions. |
timeout | The amount of time (in seconds) to spend looking for a solution. |
Definition at line 125 of file arm_kinematics_constraint_aware.cpp.
Definition at line 301 of file arm_kinematics_constraint_aware.cpp.
Definition at line 289 of file arm_kinematics_constraint_aware.cpp.
bool arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::getPositionFK | ( | kinematics_msgs::GetPositionFK::Request & | request, |
kinematics_msgs::GetPositionFK::Response & | response | ||
) |
Definition at line 313 of file arm_kinematics_constraint_aware.cpp.
bool arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::getPositionIK | ( | kinematics_msgs::GetPositionIK::Request & | request, |
kinematics_msgs::GetPositionIK::Response & | response | ||
) |
Definition at line 237 of file arm_kinematics_constraint_aware.cpp.
bool arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::isActive | ( | ) | [inline] |
Definition at line 115 of file arm_kinematics_constraint_aware.h.
bool arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::isReady | ( | arm_navigation_msgs::ArmNavigationErrorCodes & | error_code | ) | [private] |
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] |
void arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::sendEndEffectorPose | ( | const planning_models::KinematicState * | state, |
bool | valid | ||
) | [private] |
Definition at line 181 of file arm_kinematics_constraint_aware.cpp.
Definition at line 120 of file arm_kinematics_constraint_aware.h.
kinematics_msgs::KinematicSolverInfo arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::chain_info_ [private] |
Definition at line 138 of file arm_kinematics_constraint_aware.h.
planning_environment::CollisionModelsInterface* arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::collision_models_interface_ [private] |
Definition at line 124 of file arm_kinematics_constraint_aware.h.
ros::Publisher arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::display_trajectory_publisher_ [private] |
Definition at line 129 of file arm_kinematics_constraint_aware.h.
ros::ServiceServer arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::fk_service_ [private] |
Definition at line 123 of file arm_kinematics_constraint_aware.h.
ros::ServiceServer arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::fk_solver_info_service_ [private] |
Definition at line 123 of file arm_kinematics_constraint_aware.h.
std::string arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::group_ [private] |
Definition at line 125 of file arm_kinematics_constraint_aware.h.
ros::ServiceServer arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::ik_collision_service_ [private] |
Definition at line 123 of file arm_kinematics_constraint_aware.h.
ros::ServiceServer arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::ik_service_ [private] |
Definition at line 123 of file arm_kinematics_constraint_aware.h.
ros::ServiceServer arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::ik_solver_info_service_ [private] |
Definition at line 123 of file arm_kinematics_constraint_aware.h.
pluginlib::ClassLoader<kinematics::KinematicsBase> arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::kinematics_loader_ [private] |
Definition at line 118 of file arm_kinematics_constraint_aware.h.
ros::NodeHandle arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::node_handle_ [private] |
Definition at line 122 of file arm_kinematics_constraint_aware.h.
ros::NodeHandle arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::root_handle_ [private] |
Definition at line 122 of file arm_kinematics_constraint_aware.h.
arm_kinematics_constraint_aware::ArmKinematicsSolverConstraintAware* arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::solver_ [private] |
Definition at line 119 of file arm_kinematics_constraint_aware.h.
ros::Publisher arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::vis_marker_array_publisher_ [private] |
Definition at line 127 of file arm_kinematics_constraint_aware.h.
ros::Publisher arm_kinematics_constraint_aware::ArmKinematicsConstraintAware::vis_marker_publisher_ [private] |
Definition at line 126 of file arm_kinematics_constraint_aware.h.
Definition at line 130 of file arm_kinematics_constraint_aware.h.