hand_kinematics Namespace Reference

Classes
class	HandKinematicsPlugin

Functions
bool	checkFKService (moveit_msgs::GetPositionFK::Request &request, moveit_msgs::GetPositionFK::Response &response, const moveit_msgs::KinematicSolverInfo &chain_info)
bool	checkIKService (moveit_msgs::GetPositionIK::Request &request, moveit_msgs::GetPositionIK::Response &response, const moveit_msgs::KinematicSolverInfo &chain_info)
bool	checkJointNames (const std::vector< std::string > &joint_names, const moveit_msgs::KinematicSolverInfo &chain_info)
bool	checkLinkName (const std::string &link_name, const moveit_msgs::KinematicSolverInfo &chain_info)
bool	checkLinkNames (const std::vector< std::string > &link_names, const moveit_msgs::KinematicSolverInfo &chain_info)
bool	checkRobotState (moveit_msgs::RobotState &robot_state, const moveit_msgs::KinematicSolverInfo &chain_info)
bool	convertPoseToRootFrame (const geometry_msgs::PoseStamped &pose_msg, KDL::Frame &pose_kdl, const std::string &root_frame, tf::TransformListener &tf)
bool	convertPoseToRootFrame (const geometry_msgs::PoseStamped &pose_msg, geometry_msgs::PoseStamped &pose_msg_out, const std::string &root_frame, tf::TransformListener &tf)
int	getJointIndex (const std::string &name, const moveit_msgs::KinematicSolverInfo &chain_info)
bool	getKDLChain (const std::string &xml_string, 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)
int	getKDLSegmentIndex (const KDL::Chain &chain, const std::string &name)
bool	getKDLTree (const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Tree &kdl_chain)
bool	init_ik (urdf::Model &robot_model, const std::string &root_name, const std::string &tip_name, KDL::JntArray &joint_min, KDL::JntArray &joint_max, moveit_msgs::KinematicSolverInfo &info)
bool	loadRobotModel (ros::NodeHandle node_handle, urdf::Model &robot_model, std::string &root_name, std::string &tip_name, std::string &xml_string)
Eigen::MatrixXd	updateCouplingFF (const KDL::JntArray &q)
Eigen::MatrixXd	updateCouplingLF (const KDL::JntArray &q)
Eigen::MatrixXd	updateCouplingMF (const KDL::JntArray &q)
Eigen::MatrixXd	updateCouplingRF (const KDL::JntArray &q)
Eigen::MatrixXd	updateCouplingTH (const KDL::JntArray &q)

Variables
static const double	IK_DEFAULT_TIMEOUT = 10.0
static const double	IK_DEFAULT_TIMEOUT = 10.0

Function Documentation

bool hand_kinematics::checkFKService	(	moveit_msgs::GetPositionFK::Request &	request,
		moveit_msgs::GetPositionFK::Response &	response,
		const moveit_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 225 of file hand_kinematics_utils.cpp.

bool hand_kinematics::checkIKService	(	moveit_msgs::GetPositionIK::Request &	request,
		moveit_msgs::GetPositionIK::Response &	response,
		const moveit_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 243 of file hand_kinematics_utils.cpp.

bool hand_kinematics::checkJointNames	(	const std::vector< std::string > &	joint_names,
		const moveit_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 154 of file hand_kinematics_utils.cpp.

bool hand_kinematics::checkLinkName	(	const std::string &	link_name,
		const moveit_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 194 of file hand_kinematics_utils.cpp.

bool hand_kinematics::checkLinkNames	(	const std::vector< std::string > &	link_names,
		const moveit_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 177 of file hand_kinematics_utils.cpp.

bool hand_kinematics::checkRobotState	(	moveit_msgs::RobotState &	robot_state,
		const moveit_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 207 of file hand_kinematics_utils.cpp.

bool hand_kinematics::convertPoseToRootFrame	(	const geometry_msgs::PoseStamped &	pose_msg,
		KDL::Frame &	pose_kdl,
		const std::string &	root_frame,
		tf::TransformListener &	tf
	)

Definition at line 278 of file hand_kinematics_utils.cpp.

bool hand_kinematics::convertPoseToRootFrame	(	const geometry_msgs::PoseStamped &	pose_msg,
		geometry_msgs::PoseStamped &	pose_msg_out,
		const std::string &	root_frame,
		tf::TransformListener &	tf
	)

Definition at line 293 of file hand_kinematics_utils.cpp.

int hand_kinematics::getJointIndex	(	const std::string &	name,
		const moveit_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 266 of file hand_kinematics_utils.cpp.

bool hand_kinematics::getKDLChain	(	const std::string &	xml_string,
		const std::string &	root_name,
		const std::string &	tip_name,
		KDL::Chain &	kdl_chain
	)

Definition at line 96 of file hand_kinematics_utils.cpp.

void hand_kinematics::getKDLChainInfo	(	const KDL::Chain &	chain,
		moveit_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 127 of file hand_kinematics_utils.cpp.

int hand_kinematics::getKDLSegmentIndex	(	const KDL::Chain &	chain,
		const std::string &	name
	)

Definition at line 138 of file hand_kinematics_utils.cpp.

bool hand_kinematics::getKDLTree	(	const std::string &	xml_string,
		const std::string &	root_name,
		const std::string &	tip_name,
		KDL::Tree &	kdl_chain
	)

Definition at line 114 of file hand_kinematics_utils.cpp.

bool hand_kinematics::init_ik	(	urdf::Model &	robot_model,
		const std::string &	root_name,
		const std::string &	tip_name,
		KDL::JntArray &	joint_min,
		KDL::JntArray &	joint_max,
		moveit_msgs::KinematicSolverInfo &	info
	)

Definition at line 418 of file hand_kinematics_utils.cpp.

bool hand_kinematics::loadRobotModel	(	ros::NodeHandle	node_handle,
		urdf::Model &	robot_model,
		std::string &	root_name,
		std::string &	tip_name,
		std::string &	xml_string
	)

Definition at line 46 of file hand_kinematics_utils.cpp.

Eigen::MatrixXd hand_kinematics::updateCouplingFF

(

const KDL::JntArray &

q

)

Definition at line 335 of file hand_kinematics_utils.cpp.

Eigen::MatrixXd hand_kinematics::updateCouplingLF

(

const KDL::JntArray &

q

)

Definition at line 392 of file hand_kinematics_utils.cpp.

Eigen::MatrixXd hand_kinematics::updateCouplingMF

(

const KDL::JntArray &

q

)

Definition at line 354 of file hand_kinematics_utils.cpp.

Eigen::MatrixXd hand_kinematics::updateCouplingRF

(

const KDL::JntArray &

q

)

Definition at line 373 of file hand_kinematics_utils.cpp.

Eigen::MatrixXd hand_kinematics::updateCouplingTH

(

const KDL::JntArray &

q

)

Definition at line 412 of file hand_kinematics_utils.cpp.

Variable Documentation

const double hand_kinematics::IK_DEFAULT_TIMEOUT = 10.0

static

Definition at line 44 of file hand_kinematics_utils.cpp.

const double hand_kinematics::IK_DEFAULT_TIMEOUT = 10.0

static

Definition at line 74 of file hand_kinematics_coupling_plugin.cpp.