Classes | Functions | Variables
arm_kinematics_constraint_aware Namespace Reference

Classes

class  ArmKinematicsConstraintAware
class  ArmKinematicsSolverConstraintAware
class  ik_solver_base
class  ikfast_solver
class  KDLArmKinematicsPlugin

Functions

bool checkConstraintAwareIKService (kinematics_msgs::GetConstraintAwarePositionIK::Request &request, kinematics_msgs::GetConstraintAwarePositionIK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool checkFKService (kinematics_msgs::GetPositionFK::Request &request, kinematics_msgs::GetPositionFK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool checkIKService (kinematics_msgs::GetPositionIK::Request &request, kinematics_msgs::GetPositionIK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool checkJointNames (const std::vector< std::string > &joint_names, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool checkLinkName (const std::string &link_name, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool checkLinkNames (const std::vector< std::string > &link_names, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool checkRobotState (arm_navigation_msgs::RobotState &robot_state, const kinematics_msgs::KinematicSolverInfo &chain_info)
double computeEuclideanDistance (const std::vector< double > &array_1, const KDL::JntArray &array_2)
bool convertPoseToRootFrame (const geometry_msgs::PoseStamped &pose_msg, KDL::Frame &pose_kdl, const std::string &root_frame, const tf::TransformListener &tf)
bool convertPoseToRootFrame (const geometry_msgs::PoseStamped &pose_msg, geometry_msgs::PoseStamped &pose_msg_out, const std::string &root_frame, const tf::TransformListener &tf)
double distance (const urdf::Pose &transform)
bool extractJointState (const sensor_msgs::JointState &joint_state, const std::vector< std::string > &joint_names, std::vector< double > &values)
bool extractJointState (const sensor_msgs::JointState &joint_state, const kinematics_msgs::KinematicSolverInfo &chain_info, std::vector< double > &values)
bool getChainInfo (const std::string &name, kinematics_msgs::KinematicSolverInfo &chain_info)
bool getChainInfoFromRobotModel (urdf::Model &robot_model, const std::string &root_name, const std::string &tip_name, kinematics_msgs::KinematicSolverInfo &chain_info)
int getJointIndex (const std::string &name, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool getKDLChain (const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain)
void getKDLChainInfo (const KDL::Chain &chain, kinematics_msgs::KinematicSolverInfo &chain_info)
int getKDLSegmentIndex (const KDL::Chain &chain, const std::string &name)
bool getKDLTree (const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Tree &kdl_chain)
Eigen::Matrix4f KDLToEigenMatrix (const KDL::Frame &p)
arm_navigation_msgs::ArmNavigationErrorCodes kinematicsErrorCodeToMotionPlanningErrorCode (const int &kinematics_error_code)
bool loadRobotModel (ros::NodeHandle node_handle, urdf::Model &robot_model, std::string &root_name, std::string &tip_name, std::string &xml_string)
Eigen::Matrix4f matrixInverse (const Eigen::Matrix4f &g)
void reorderJointState (sensor_msgs::JointState &joint_state, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool solveCosineEqn (const double &a, const double &b, const double &c, double &soln1, double &soln2)
bool solveQuadratic (const double &a, const double &b, const double &c, double *x1, double *x2)

Variables

static const std::string FK_INFO_SERVICE = "get_fk_solver_info"
static const std::string FK_SERVICE = "get_fk"
static const double IK_DEFAULT_TIMEOUT = 10.0
static const double IK_EPS = 1e-5
static const std::string IK_INFO_SERVICE = "get_ik_solver_info"
static const std::string IK_SERVICE = "get_ik"
static const std::string IK_WITH_COLLISION_SERVICE = "get_constraint_aware_ik"
static const int NUM_JOINTS_ARM7DOF = 7

Function Documentation

bool arm_kinematics_constraint_aware::checkJointNames ( const std::vector< std::string > &  joint_names,
const kinematics_msgs::KinematicSolverInfo chain_info 
)
bool arm_kinematics_constraint_aware::checkLinkName ( const std::string &  link_name,
const kinematics_msgs::KinematicSolverInfo chain_info 
)
bool arm_kinematics_constraint_aware::checkLinkNames ( const std::vector< std::string > &  link_names,
const kinematics_msgs::KinematicSolverInfo chain_info 
)
double arm_kinematics_constraint_aware::computeEuclideanDistance ( const std::vector< double > &  array_1,
const KDL::JntArray &  array_2 
)

Definition at line 119 of file arm_kinematics_constraint_aware_utils.cpp.

bool arm_kinematics_constraint_aware::convertPoseToRootFrame ( const geometry_msgs::PoseStamped &  pose_msg,
KDL::Frame pose_kdl,
const std::string &  root_frame,
const tf::TransformListener tf 
)

Definition at line 368 of file arm_kinematics_constraint_aware_utils.cpp.

bool arm_kinematics_constraint_aware::convertPoseToRootFrame ( const geometry_msgs::PoseStamped &  pose_msg,
geometry_msgs::PoseStamped &  pose_msg_out,
const std::string &  root_frame,
const tf::TransformListener tf 
)

Definition at line 381 of file arm_kinematics_constraint_aware_utils.cpp.

Definition at line 130 of file arm_kinematics_constraint_aware_utils.cpp.

bool arm_kinematics_constraint_aware::extractJointState ( const sensor_msgs::JointState &  joint_state,
const std::vector< std::string > &  joint_names,
std::vector< double > &  values 
)
bool arm_kinematics_constraint_aware::extractJointState ( const sensor_msgs::JointState &  joint_state,
const kinematics_msgs::KinematicSolverInfo chain_info,
std::vector< double > &  values 
)

Definition at line 478 of file arm_kinematics_constraint_aware_utils.cpp.

bool arm_kinematics_constraint_aware::getChainInfo ( const std::string &  name,
kinematics_msgs::KinematicSolverInfo chain_info 
)
bool arm_kinematics_constraint_aware::getChainInfoFromRobotModel ( urdf::Model robot_model,
const std::string &  root_name,
const std::string &  tip_name,
kinematics_msgs::KinematicSolverInfo chain_info 
)
int arm_kinematics_constraint_aware::getJointIndex ( const std::string &  name,
const kinematics_msgs::KinematicSolverInfo chain_info 
)
bool arm_kinematics_constraint_aware::getKDLChain ( const std::string &  xml_string,
const std::string &  root_name,
const std::string &  tip_name,
KDL::Chain kdl_chain 
)

Definition at line 76 of file arm_kinematics_constraint_aware_utils.cpp.

int arm_kinematics_constraint_aware::getKDLSegmentIndex ( const KDL::Chain chain,
const std::string &  name 
)

Definition at line 447 of file arm_kinematics_constraint_aware_utils.cpp.

bool arm_kinematics_constraint_aware::getKDLTree ( const std::string &  xml_string,
const std::string &  root_name,
const std::string &  tip_name,
KDL::Tree kdl_chain 
)

Definition at line 93 of file arm_kinematics_constraint_aware_utils.cpp.

Definition at line 105 of file arm_kinematics_constraint_aware_utils.cpp.

Definition at line 604 of file arm_kinematics_constraint_aware_utils.cpp.

bool arm_kinematics_constraint_aware::loadRobotModel ( ros::NodeHandle  node_handle,
urdf::Model robot_model,
std::string &  root_name,
std::string &  tip_name,
std::string &  xml_string 
)

Definition at line 41 of file arm_kinematics_constraint_aware_utils.cpp.

Eigen::Matrix4f arm_kinematics_constraint_aware::matrixInverse ( const Eigen::Matrix4f &  g)

Definition at line 166 of file arm_kinematics_constraint_aware_utils.cpp.

void arm_kinematics_constraint_aware::reorderJointState ( sensor_msgs::JointState &  joint_state,
const kinematics_msgs::KinematicSolverInfo chain_info 
)
bool arm_kinematics_constraint_aware::solveCosineEqn ( const double &  a,
const double &  b,
const double &  c,
double &  soln1,
double &  soln2 
)

Definition at line 214 of file arm_kinematics_constraint_aware_utils.cpp.

bool arm_kinematics_constraint_aware::solveQuadratic ( const double &  a,
const double &  b,
const double &  c,
double *  x1,
double *  x2 
)

Definition at line 136 of file arm_kinematics_constraint_aware_utils.cpp.


Variable Documentation

const std::string arm_kinematics_constraint_aware::FK_INFO_SERVICE = "get_fk_solver_info" [static]

Definition at line 46 of file arm_kinematics_constraint_aware.cpp.

const std::string arm_kinematics_constraint_aware::FK_SERVICE = "get_fk" [static]

Definition at line 48 of file arm_kinematics_constraint_aware.cpp.

static const double arm_kinematics_constraint_aware::IK_DEFAULT_TIMEOUT = 10.0 [static]

Definition at line 49 of file arm_kinematics_constraint_aware.cpp.

const double arm_kinematics_constraint_aware::IK_EPS = 1e-5 [static]

Definition at line 40 of file arm_kinematics_constraint_aware_utils.cpp.

const std::string arm_kinematics_constraint_aware::IK_INFO_SERVICE = "get_ik_solver_info" [static]

Definition at line 45 of file arm_kinematics_constraint_aware.cpp.

const std::string arm_kinematics_constraint_aware::IK_SERVICE = "get_ik" [static]

Definition at line 47 of file arm_kinematics_constraint_aware.cpp.

const std::string arm_kinematics_constraint_aware::IK_WITH_COLLISION_SERVICE = "get_constraint_aware_ik" [static]

Definition at line 44 of file arm_kinematics_constraint_aware.cpp.

Definition at line 39 of file arm_kinematics_constraint_aware_utils.cpp.



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