Public Member Functions
bool	init ()
	Kinematics ()
Private Member Functions
bool	getFKSolverInfo (kinematics_msgs::GetKinematicSolverInfo::Request &request, kinematics_msgs::GetKinematicSolverInfo::Response &response)
	This is the basic kinematics info service that will return information about the kinematics node.
bool	getIKSolverInfo (kinematics_msgs::GetKinematicSolverInfo::Request &request, kinematics_msgs::GetKinematicSolverInfo::Response &response)
	This is the basic kinematics info service that will return information about the kinematics node.
int	getJointIndex (const std::string &name)
int	getKDLSegmentIndex (const std::string &name)
bool	getPositionFK (kinematics_msgs::GetPositionFK::Request &request, kinematics_msgs::GetPositionFK::Response &response)
	This is the basic forward kinematics service that will return information about the kinematics node.
bool	getPositionIK (kinematics_msgs::GetPositionIK::Request &request, kinematics_msgs::GetPositionIK::Response &response)
	This is the basic IK service method that will compute and return an IK solution.
bool	loadModel (const std::string xml)
bool	readJoints (urdf::Model &robot_model)
Private Attributes
KDL::Chain	chain
double	epsilon
std::string	finger_base_name
ros::ServiceServer	fk_service
KDL::ChainFkSolverPos_recursive *	fk_solver
ros::ServiceServer	fk_solver_info_service
ros::ServiceServer	ik_service
ros::ServiceServer	ik_solver_info_service
kinematics_msgs::KinematicSolverInfo	info
unsigned int	J5_idx_offset
KDL::JntArray	joint_max
KDL::JntArray	joint_min
std::vector< urdf::Vector3 >	knuckle_axis
double	length_middle
double	length_proximal
std::vector< urdf::Pose >	link_offset
std::vector< std::string >	link_offset_name
ros::NodeHandle	nh
ros::NodeHandle	nh_private
unsigned int	num_joints
std::string	root_name
tf::TransformListener	tf_listener
std::string	tip_name

Detailed Description

Definition at line 61 of file sr_kinematics.cpp.

Constructor & Destructor Documentation

Kinematics::Kinematics ( )

Definition at line 131 of file sr_kinematics.cpp.

Member Function Documentation

bool Kinematics::getFKSolverInfo	(	kinematics_msgs::GetKinematicSolverInfo::Request &	request,
		kinematics_msgs::GetKinematicSolverInfo::Response &	response
	)		`[private]`

This is the basic kinematics info service that will return information about the kinematics node.

Parameters:

request	message. See service definition for GetKinematicSolverInfo for more information on this message.
response	message. See service definition for GetKinematicSolverInfo for more information on this message.

Definition at line 555 of file sr_kinematics.cpp.

bool Kinematics::getIKSolverInfo	(	kinematics_msgs::GetKinematicSolverInfo::Request &	request,
		kinematics_msgs::GetKinematicSolverInfo::Response &	response
	)		`[private]`

This is the basic kinematics info service that will return information about the kinematics node.

Parameters:

request	message. See service definition for GetKinematicSolverInfo for more information on this message.
response	message. See service definition for GetKinematicSolverInfo for more information on this message.

Definition at line 549 of file sr_kinematics.cpp.

int Kinematics::getJointIndex ( const std::string & name ) [private]

Definition at line 347 of file sr_kinematics.cpp.

int Kinematics::getKDLSegmentIndex ( const std::string & name ) [private]

Definition at line 355 of file sr_kinematics.cpp.

bool Kinematics::getPositionFK	(	kinematics_msgs::GetPositionFK::Request &	request,
		kinematics_msgs::GetPositionFK::Response &	response
	)		`[private]`

This is the basic forward kinematics service that will return information about the kinematics node.

Parameters:

request	message. See service definition for GetPositionFK for more information on this message.
response	message. See service definition for GetPositionFK for more information on this message.

Definition at line 561 of file sr_kinematics.cpp.

bool Kinematics::getPositionIK	(	kinematics_msgs::GetPositionIK::Request &	request,
		kinematics_msgs::GetPositionIK::Response &	response
	)		`[private]`

This is the basic IK service method that will compute and return an IK solution.

Parameters:

request	message. See service definition for GetPositionIK for more information on this message.
response	message. See service definition for GetPositionIK for more information on this message.

Definition at line 366 of file sr_kinematics.cpp.

bool Kinematics::init ( )

Definition at line 134 of file sr_kinematics.cpp.

bool Kinematics::loadModel ( const std::string xml ) [private]

Definition at line 207 of file sr_kinematics.cpp.

bool Kinematics::readJoints ( urdf::Model & robot_model ) [private]

Definition at line 232 of file sr_kinematics.cpp.