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pr2_arm_kinematics_utils.cpp File Reference
#include <pr2_arm_kinematics/pr2_arm_kinematics_utils.h>
#include <pr2_arm_kinematics/pr2_arm_kinematics_constants.h>
Include dependency graph for pr2_arm_kinematics_utils.cpp:

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Namespaces

namespace  pr2_arm_kinematics

Functions

bool pr2_arm_kinematics::checkConstraintAwareIKService (kinematics_msgs::GetConstraintAwarePositionIK::Request &request, kinematics_msgs::GetConstraintAwarePositionIK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool pr2_arm_kinematics::checkFKService (kinematics_msgs::GetPositionFK::Request &request, kinematics_msgs::GetPositionFK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool pr2_arm_kinematics::checkIKService (kinematics_msgs::GetPositionIK::Request &request, kinematics_msgs::GetPositionIK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool pr2_arm_kinematics::checkJointNames (const std::vector< std::string > &joint_names, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool pr2_arm_kinematics::checkLinkName (const std::string &link_name, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool pr2_arm_kinematics::checkLinkNames (const std::vector< std::string > &link_names, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool pr2_arm_kinematics::checkRobotState (arm_navigation_msgs::RobotState &robot_state, const kinematics_msgs::KinematicSolverInfo &chain_info)
double pr2_arm_kinematics::computeEuclideanDistance (const std::vector< double > &array_1, const KDL::JntArray &array_2)
bool pr2_arm_kinematics::convertPoseToRootFrame (const geometry_msgs::PoseStamped &pose_msg, KDL::Frame &pose_kdl, const std::string &root_frame, tf::TransformListener &tf)
bool pr2_arm_kinematics::convertPoseToRootFrame (const geometry_msgs::PoseStamped &pose_msg, geometry_msgs::PoseStamped &pose_msg_out, const std::string &root_frame, tf::TransformListener &tf)
double pr2_arm_kinematics::distance (const urdf::Pose &transform)
int pr2_arm_kinematics::getJointIndex (const std::string &name, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool pr2_arm_kinematics::getKDLChain (const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain)
void pr2_arm_kinematics::getKDLChainInfo (const KDL::Chain &chain, kinematics_msgs::KinematicSolverInfo &chain_info)
int pr2_arm_kinematics::getKDLSegmentIndex (const KDL::Chain &chain, const std::string &name)
bool pr2_arm_kinematics::getKDLTree (const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Tree &kdl_chain)
Eigen::Matrix4f pr2_arm_kinematics::KDLToEigenMatrix (const KDL::Frame &p)
bool pr2_arm_kinematics::loadRobotModel (ros::NodeHandle node_handle, urdf::Model &robot_model, std::string &xml_string)
Eigen::Matrix4f pr2_arm_kinematics::matrixInverse (const Eigen::Matrix4f &g)
bool pr2_arm_kinematics::solveCosineEqn (const double &a, const double &b, const double &c, double &soln1, double &soln2)
bool pr2_arm_kinematics::solveQuadratic (const double &a, const double &b, const double &c, double *x1, double *x2)

Variables

static const double pr2_arm_kinematics::IK_DEFAULT_TIMEOUT = 10.0


pr2_arm_kinematics
Author(s): Sachin Chitta
autogenerated on Tue Apr 22 2014 19:33:02