Namespaces | Functions
pr2_arm_kinematics_utils.h File Reference
#include <ros/ros.h>
#include <vector>
#include <angles/angles.h>
#include <Eigen/Core>
#include <kdl/frames.hpp>
#include <kdl/jntarray.hpp>
#include <kdl/tree.hpp>
#include <urdf/model.h>
#include <kdl_parser/kdl_parser.hpp>
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <tf_conversions/tf_kdl.h>
#include <kinematics_msgs/GetPositionFK.h>
#include <kinematics_msgs/GetPositionIK.h>
#include <kinematics_msgs/GetConstraintAwarePositionIK.h>
#include <kinematics_msgs/GetKinematicSolverInfo.h>
Include dependency graph for pr2_arm_kinematics_utils.h:
This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

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)


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