#include <pr2_arm_kinematics.h>
Public Member Functions | |
bool | getFKSolverInfo (moveit_msgs::GetKinematicSolverInfo::Request &request, moveit_msgs::GetKinematicSolverInfo::Response &response) |
This is the basic kinematics info service that will return information about the kinematics node. | |
bool | getIKSolverInfo (moveit_msgs::GetKinematicSolverInfo::Request &request, moveit_msgs::GetKinematicSolverInfo::Response &response) |
This is the basic kinematics info service that will return information about the kinematics node. | |
bool | getPositionFK (moveit_msgs::GetPositionFK::Request &request, moveit_msgs::GetPositionFK::Response &response) |
This is the basic forward kinematics service that will return information about the kinematics node. | |
virtual bool | getPositionIK (moveit_msgs::GetPositionIK::Request &request, moveit_msgs::GetPositionIK::Response &response) |
This is the basic IK service method that will compute and return an IK solution. | |
bool | isActive () |
Specifies if the node is active or not. | |
PR2ArmKinematics (bool create_transform_listener=true) | |
virtual | ~PR2ArmKinematics () |
Protected Member Functions | |
bool | getPositionIKHelper (moveit_msgs::GetPositionIK::Request &request, moveit_msgs::GetPositionIK::Response &response) |
virtual bool | transformPose (const std::string &des_frame, const geometry_msgs::PoseStamped &pose_in, geometry_msgs::PoseStamped &pose_out) |
Protected Attributes | |
bool | active_ |
int | dimension_ |
ros::ServiceServer | fk_service_ |
moveit_msgs::KinematicSolverInfo | fk_solver_info_ |
ros::ServiceServer | fk_solver_info_service_ |
int | free_angle_ |
ros::ServiceServer | ik_service_ |
moveit_msgs::KinematicSolverInfo | ik_solver_info_ |
ros::ServiceServer | ik_solver_info_service_ |
boost::shared_ptr < KDL::ChainFkSolverPos_recursive > | jnt_to_pose_solver_ |
KDL::Chain | kdl_chain_ |
ros::NodeHandle | node_handle_ |
boost::shared_ptr < pr2_arm_kinematics::PR2ArmIKSolver > | pr2_arm_ik_solver_ |
urdf::Model | robot_model_ |
ros::NodeHandle | root_handle_ |
std::string | root_name_ |
double | search_discretization_ |
tf::TransformListener * | tf_ |
Definition at line 59 of file pr2_arm_kinematics.h.
pr2_arm_kinematics::PR2ArmKinematics::PR2ArmKinematics | ( | bool | create_transform_listener = true | ) |
Definition at line 58 of file pr2_arm_kinematics.cpp.
pr2_arm_kinematics::PR2ArmKinematics::~PR2ArmKinematics | ( | ) | [virtual] |
Definition at line 131 of file pr2_arm_kinematics.cpp.
bool pr2_arm_kinematics::PR2ArmKinematics::getFKSolverInfo | ( | moveit_msgs::GetKinematicSolverInfo::Request & | request, |
moveit_msgs::GetKinematicSolverInfo::Response & | response | ||
) |
This is the basic kinematics info service that will return information about the kinematics node.
A | request message. See service definition for GetKinematicSolverInfo for more information on this message. |
The | response message. See service definition for GetKinematicSolverInfo for more information on this message. |
Definition at line 242 of file pr2_arm_kinematics.cpp.
bool pr2_arm_kinematics::PR2ArmKinematics::getIKSolverInfo | ( | moveit_msgs::GetKinematicSolverInfo::Request & | request, |
moveit_msgs::GetKinematicSolverInfo::Response & | response | ||
) |
This is the basic kinematics info service that will return information about the kinematics node.
A | request message. See service definition for GetKinematicSolverInfo for more information on this message. |
The | response message. See service definition for GetKinematicSolverInfo for more information on this message. |
Definition at line 230 of file pr2_arm_kinematics.cpp.
bool pr2_arm_kinematics::PR2ArmKinematics::getPositionFK | ( | moveit_msgs::GetPositionFK::Request & | request, |
moveit_msgs::GetPositionFK::Response & | response | ||
) |
This is the basic forward kinematics service that will return information about the kinematics node.
A | request message. See service definition for GetPositionFK for more information on this message. |
The | response message. See service definition for GetPositionFK for more information on this message. |
Definition at line 254 of file pr2_arm_kinematics.cpp.
bool pr2_arm_kinematics::PR2ArmKinematics::getPositionIK | ( | moveit_msgs::GetPositionIK::Request & | request, |
moveit_msgs::GetPositionIK::Response & | response | ||
) | [virtual] |
This is the basic IK service method that will compute and return an IK solution.
A | request message. See service definition for GetPositionIK for more information on this message. |
The | response message. See service definition for GetPositionIK for more information on this message. |
Definition at line 145 of file pr2_arm_kinematics.cpp.
bool pr2_arm_kinematics::PR2ArmKinematics::getPositionIKHelper | ( | moveit_msgs::GetPositionIK::Request & | request, |
moveit_msgs::GetPositionIK::Response & | response | ||
) | [protected] |
Definition at line 175 of file pr2_arm_kinematics.cpp.
Specifies if the node is active or not.
Definition at line 138 of file pr2_arm_kinematics.cpp.
bool pr2_arm_kinematics::PR2ArmKinematics::transformPose | ( | const std::string & | des_frame, |
const geometry_msgs::PoseStamped & | pose_in, | ||
geometry_msgs::PoseStamped & | pose_out | ||
) | [protected, virtual] |
Definition at line 308 of file pr2_arm_kinematics.cpp.
bool pr2_arm_kinematics::PR2ArmKinematics::active_ [protected] |
Definition at line 125 of file pr2_arm_kinematics.h.
int pr2_arm_kinematics::PR2ArmKinematics::dimension_ [protected] |
Definition at line 134 of file pr2_arm_kinematics.h.
Definition at line 131 of file pr2_arm_kinematics.h.
moveit_msgs::KinematicSolverInfo pr2_arm_kinematics::PR2ArmKinematics::fk_solver_info_ [protected] |
Definition at line 137 of file pr2_arm_kinematics.h.
Definition at line 131 of file pr2_arm_kinematics.h.
int pr2_arm_kinematics::PR2ArmKinematics::free_angle_ [protected] |
Definition at line 126 of file pr2_arm_kinematics.h.
Definition at line 131 of file pr2_arm_kinematics.h.
moveit_msgs::KinematicSolverInfo pr2_arm_kinematics::PR2ArmKinematics::ik_solver_info_ [protected] |
Definition at line 137 of file pr2_arm_kinematics.h.
Definition at line 131 of file pr2_arm_kinematics.h.
boost::shared_ptr<KDL::ChainFkSolverPos_recursive> pr2_arm_kinematics::PR2ArmKinematics::jnt_to_pose_solver_ [protected] |
Definition at line 135 of file pr2_arm_kinematics.h.
Definition at line 136 of file pr2_arm_kinematics.h.
Definition at line 129 of file pr2_arm_kinematics.h.
boost::shared_ptr<pr2_arm_kinematics::PR2ArmIKSolver> pr2_arm_kinematics::PR2ArmKinematics::pr2_arm_ik_solver_ [protected] |
Definition at line 130 of file pr2_arm_kinematics.h.
Definition at line 127 of file pr2_arm_kinematics.h.
Definition at line 129 of file pr2_arm_kinematics.h.
std::string pr2_arm_kinematics::PR2ArmKinematics::root_name_ [protected] |
Definition at line 133 of file pr2_arm_kinematics.h.
double pr2_arm_kinematics::PR2ArmKinematics::search_discretization_ [protected] |
Definition at line 128 of file pr2_arm_kinematics.h.
Definition at line 132 of file pr2_arm_kinematics.h.