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 |
| bool arm_kinematics_constraint_aware::checkConstraintAwareIKService | ( | kinematics_msgs::GetConstraintAwarePositionIK::Request & | request, |
| kinematics_msgs::GetConstraintAwarePositionIK::Response & | response, | ||
| const kinematics_msgs::KinematicSolverInfo & | chain_info | ||
| ) |
| bool arm_kinematics_constraint_aware::checkFKService | ( | kinematics_msgs::GetPositionFK::Request & | request, |
| kinematics_msgs::GetPositionFK::Response & | response, | ||
| const kinematics_msgs::KinematicSolverInfo & | chain_info | ||
| ) |
| bool arm_kinematics_constraint_aware::checkIKService | ( | kinematics_msgs::GetPositionIK::Request & | request, |
| kinematics_msgs::GetPositionIK::Response & | response, | ||
| const kinematics_msgs::KinematicSolverInfo & | chain_info | ||
| ) |
| 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 | ||
| ) |
| bool arm_kinematics_constraint_aware::checkRobotState | ( | arm_navigation_msgs::RobotState & | robot_state, |
| 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.
| double arm_kinematics_constraint_aware::distance | ( | const urdf::Pose & | transform | ) |
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.
| void arm_kinematics_constraint_aware::getKDLChainInfo | ( | const KDL::Chain & | chain, |
| kinematics_msgs::KinematicSolverInfo & | chain_info | ||
| ) |
| 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.
| Eigen::Matrix4f arm_kinematics_constraint_aware::KDLToEigenMatrix | ( | const KDL::Frame & | p | ) |
Definition at line 105 of file arm_kinematics_constraint_aware_utils.cpp.
| arm_navigation_msgs::ArmNavigationErrorCodes arm_kinematics_constraint_aware::kinematicsErrorCodeToMotionPlanningErrorCode | ( | const int & | kinematics_error_code | ) |
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.
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.
const int arm_kinematics_constraint_aware::NUM_JOINTS_ARM7DOF = 7 [static] |
Definition at line 39 of file arm_kinematics_constraint_aware_utils.cpp.