#include <ros/ros.h>
#include <moveit/kinematics_base/kinematics_base.h>
#include <moveit/robot_state/robot_state.h>
#include <Eigen/Geometry>
#include <tf2_kdl/tf2_kdl.h>
#include <tf2_eigen/tf2_eigen.h>
#include <eigen_conversions/eigen_kdl.h>
#include "prbt_manipulator_ikfast_solver.cpp"
#include <pluginlib/class_list_macros.hpp>

Include dependency graph for prbt_manipulator_ikfast_moveit_plugin.cpp:

Classes
struct	prbt_manipulator::CheckValue< T >

class	prbt_manipulator::IKFastKinematicsPlugin

class	prbt_manipulator::IKSolver

struct	prbt_manipulator::LimitObeyingSol

Namespaces
	prbt_manipulator

Macros
#define	IKFAST_NO_MAIN

Enumerations
enum	prbt_manipulator::IkParameterizationType { prbt_manipulator::IKP_None = 0, prbt_manipulator::IKP_Transform6D = 0x67000001, prbt_manipulator::IKP_Rotation3D = 0x34000002, prbt_manipulator::IKP_Translation3D = 0x33000003, prbt_manipulator::IKP_Direction3D = 0x23000004, prbt_manipulator::IKP_Ray4D = 0x46000005, prbt_manipulator::IKP_Lookat3D = 0x23000006, prbt_manipulator::IKP_TranslationDirection5D = 0x56000007, prbt_manipulator::IKP_TranslationXY2D = 0x22000008, prbt_manipulator::IKP_TranslationXYOrientation3D = 0x33000009, prbt_manipulator::IKP_TranslationLocalGlobal6D = 0x3600000a, prbt_manipulator::IKP_TranslationXAxisAngle4D = 0x4400000b, prbt_manipulator::IKP_TranslationYAxisAngle4D = 0x4400000c, prbt_manipulator::IKP_TranslationZAxisAngle4D = 0x4400000d, prbt_manipulator::IKP_TranslationXAxisAngleZNorm4D = 0x4400000e, prbt_manipulator::IKP_TranslationYAxisAngleXNorm4D = 0x4400000f, prbt_manipulator::IKP_TranslationZAxisAngleYNorm4D = 0x44000010, prbt_manipulator::IKP_NumberOfParameterizations = 16, prbt_manipulator::IKP_VelocityDataBit, prbt_manipulator::IKP_Transform6DVelocity = IKP_Transform6D \| IKP_VelocityDataBit, prbt_manipulator::IKP_Rotation3DVelocity = IKP_Rotation3D \| IKP_VelocityDataBit, prbt_manipulator::IKP_Translation3DVelocity = IKP_Translation3D \| IKP_VelocityDataBit, prbt_manipulator::IKP_Direction3DVelocity = IKP_Direction3D \| IKP_VelocityDataBit, prbt_manipulator::IKP_Ray4DVelocity = IKP_Ray4D \| IKP_VelocityDataBit, prbt_manipulator::IKP_Lookat3DVelocity = IKP_Lookat3D \| IKP_VelocityDataBit, prbt_manipulator::IKP_TranslationDirection5DVelocity = IKP_TranslationDirection5D \| IKP_VelocityDataBit, prbt_manipulator::IKP_TranslationXY2DVelocity = IKP_TranslationXY2D \| IKP_VelocityDataBit, prbt_manipulator::IKP_TranslationXYOrientation3DVelocity = IKP_TranslationXYOrientation3D \| IKP_VelocityDataBit, prbt_manipulator::IKP_TranslationLocalGlobal6DVelocity = IKP_TranslationLocalGlobal6D \| IKP_VelocityDataBit, prbt_manipulator::IKP_TranslationXAxisAngle4DVelocity = IKP_TranslationXAxisAngle4D \| IKP_VelocityDataBit, prbt_manipulator::IKP_TranslationYAxisAngle4DVelocity = IKP_TranslationYAxisAngle4D \| IKP_VelocityDataBit, prbt_manipulator::IKP_TranslationZAxisAngle4DVelocity = IKP_TranslationZAxisAngle4D \| IKP_VelocityDataBit, prbt_manipulator::IKP_TranslationXAxisAngleZNorm4DVelocity = IKP_TranslationXAxisAngleZNorm4D \| IKP_VelocityDataBit, prbt_manipulator::IKP_TranslationYAxisAngleXNorm4DVelocity = IKP_TranslationYAxisAngleXNorm4D \| IKP_VelocityDataBit, prbt_manipulator::IKP_TranslationZAxisAngleYNorm4DVelocity = IKP_TranslationZAxisAngleYNorm4D \| IKP_VelocityDataBit, prbt_manipulator::IKP_UniqueIdMask = 0x0000ffff, prbt_manipulator::IKP_CustomDataBit = 0x00010000 }
	The types of inverse kinematics parameterizations supported. More...

enum	SEARCH_MODE { OPTIMIZE_FREE_JOINT = 1, OPTIMIZE_MAX_JOINT = 2 }
	Search modes for searchPositionIK(), see there. More...

Functions
IKFAST_API void	prbt_manipulator::ComputeFk (const IkReal j, IkReal eetrans, IkReal *eerot)

IKFAST_API bool	prbt_manipulator::ComputeIk (const IkReal eetrans, const IkReal eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)

IKFAST_API bool	prbt_manipulator::ComputeIk2 (const IkReal eetrans, const IkReal eerot, const IkReal pfree, IkSolutionListBase< IkReal > &solutions, void pOpenRAVEManip)

IKFAST_API int *	prbt_manipulator::GetFreeParameters ()

IKFAST_API const char *	prbt_manipulator::GetIkFastVersion ()

IKFAST_API int	prbt_manipulator::GetIkRealSize ()

IKFAST_API int	prbt_manipulator::GetIkType ()

IKFAST_API const char *	prbt_manipulator::GetKinematicsHash ()

IKFAST_API int	prbt_manipulator::GetNumFreeParameters ()

IKFAST_API int	prbt_manipulator::GetNumJoints ()

float	prbt_manipulator::IKabs (float f)

double	prbt_manipulator::IKabs (double f)

float	prbt_manipulator::IKacos (float f)

double	prbt_manipulator::IKacos (double f)

float	prbt_manipulator::IKasin (float f)

double	prbt_manipulator::IKasin (double f)

float	prbt_manipulator::IKatan2 (float fy, float fx)

double	prbt_manipulator::IKatan2 (double fy, double fx)

float	prbt_manipulator::IKatan2Simple (float fy, float fx)

double	prbt_manipulator::IKatan2Simple (double fy, double fx)

template<typename T >
CheckValue< T >	prbt_manipulator::IKatan2WithCheck (T fy, T fx, T epsilon)

float	prbt_manipulator::IKcos (float f)

double	prbt_manipulator::IKcos (double f)

	prbt_manipulator::IKFAST_COMPILE_ASSERT (IKFAST_VERSION==0x1000004a)

float	prbt_manipulator::IKfmod (float x, float y)

double	prbt_manipulator::IKfmod (double x, double y)

float	prbt_manipulator::IKlog (float f)

double	prbt_manipulator::IKlog (double f)

template<typename T >
CheckValue< T >	prbt_manipulator::IKPowWithIntegerCheck (T f, int n)

float	prbt_manipulator::IKsign (float f)

double	prbt_manipulator::IKsign (double f)

float	prbt_manipulator::IKsin (float f)

double	prbt_manipulator::IKsin (double f)

float	prbt_manipulator::IKsqr (float f)

double	prbt_manipulator::IKsqr (double f)

float	prbt_manipulator::IKsqrt (float f)

double	prbt_manipulator::IKsqrt (double f)

float	prbt_manipulator::IKtan (float f)

double	prbt_manipulator::IKtan (double f)

	PLUGINLIB_EXPORT_CLASS (prbt_manipulator::IKFastKinematicsPlugin, kinematics::KinematicsBase)