Classes | |
class | PR2ArmIK |
class | PR2ArmIKSolver |
class | PR2ArmKinematicsPlugin |
Functions | |
double | computeEuclideanDistance (const std::vector< double > &array_1, const KDL::JntArray &array_2) |
double | distance (const urdf::Pose &transform) |
bool | getKDLChain (const urdf::ModelInterface &model, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain) |
void | getKDLChainInfo (const KDL::Chain &chain, moveit_msgs::KinematicSolverInfo &chain_info) |
Eigen::Matrix4f | KDLToEigenMatrix (const KDL::Frame &p) |
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 double | IK_EPS = 1e-5 |
static const int | NO_IK_SOLUTION = -1 |
static const int | NUM_JOINTS_ARM7DOF = 7 |
static const int | TIMED_OUT = -2 |
double pr2_arm_kinematics::computeEuclideanDistance | ( | const std::vector< double > & | array_1, |
const KDL::JntArray & | array_2 | ||
) |
Definition at line 224 of file pr2_arm_kinematics_plugin.cpp.
double pr2_arm_kinematics::distance | ( | const urdf::Pose & | transform | ) | [inline] |
Definition at line 56 of file pr2_arm_ik.h.
bool pr2_arm_kinematics::getKDLChain | ( | const urdf::ModelInterface & | model, |
const std::string & | root_name, | ||
const std::string & | tip_name, | ||
KDL::Chain & | kdl_chain | ||
) |
Definition at line 193 of file pr2_arm_kinematics_plugin.cpp.
void pr2_arm_kinematics::getKDLChainInfo | ( | const KDL::Chain & | chain, |
moveit_msgs::KinematicSolverInfo & | chain_info | ||
) |
Definition at line 234 of file pr2_arm_kinematics_plugin.cpp.
Eigen::Matrix4f pr2_arm_kinematics::KDLToEigenMatrix | ( | const KDL::Frame & | p | ) |
Definition at line 210 of file pr2_arm_kinematics_plugin.cpp.
bool pr2_arm_kinematics::solveCosineEqn | ( | const double & | a, |
const double & | b, | ||
const double & | c, | ||
double & | soln1, | ||
double & | soln2 | ||
) | [inline] |
Definition at line 92 of file pr2_arm_ik.h.
bool pr2_arm_kinematics::solveQuadratic | ( | const double & | a, |
const double & | b, | ||
const double & | c, | ||
double * | x1, | ||
double * | x2 | ||
) | [inline] |
Definition at line 62 of file pr2_arm_ik.h.
const double pr2_arm_kinematics::IK_EPS = 1e-5 [static] |
Definition at line 54 of file pr2_arm_ik.h.
const int pr2_arm_kinematics::NO_IK_SOLUTION = -1 [static] |
Definition at line 65 of file pr2_arm_kinematics_plugin.h.
const int pr2_arm_kinematics::NUM_JOINTS_ARM7DOF = 7 [static] |
Definition at line 52 of file pr2_arm_ik.h.
const int pr2_arm_kinematics::TIMED_OUT = -2 [static] |
Definition at line 66 of file pr2_arm_kinematics_plugin.h.