Namespace for the PR2ArmKinematics. More...

Classes
class	PR2ArmIK

class	PR2ArmIKSolver

class	PR2ArmKinematics

class	PR2ArmKinematicsPlugin

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)

double	computeEuclideanDistance (const std::vector< double > &array_1, const KDL::JntArray &array_2)

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)

double	distance (const urdf::Pose &transform)

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

bool	getKDLChain (const urdf::ModelInterface &model, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain)

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)

Eigen::Affine3f	KDLToEigenMatrix (const KDL::Frame &p)

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

Eigen::Matrix4f	matrixInverse (const Eigen::Matrix4f &g)

	MOVEIT_CLASS_FORWARD (PR2ArmKinematicsPlugin)

	MOVEIT_CLASS_FORWARD (PR2ArmIKSolver)

bool	solveCosineEqn (const double &a, const double &b, const double &c, double &soln1, double &soln2)

bool	solveQuadratic (const double &a, const double &b, const double &c, double x1, double x2)

Variables
static const std::string	FK_INFO_SERVICE = "get_fk_solver_info"

static const std::string	FK_SERVICE = "get_fk"

static const double	IK_DEFAULT_TIMEOUT = 10.0

static const double	IK_EPS

static const double	IK_EPS = 1e-5

static const std::string	IK_INFO_SERVICE = "get_ik_solver_info"

static const std::string	IK_SERVICE = "get_ik"

static const int	NO_IK_SOLUTION

static const int	NO_IK_SOLUTION = -1

static const int	NUM_JOINTS_ARM7DOF

static const int	NUM_JOINTS_ARM7DOF = 7

static const int	TIMED_OUT

static const int	TIMED_OUT = -2

Detailed Description

Namespace for the PR2ArmKinematics.

Function Documentation

bool pr2_arm_kinematics::checkFKService	(	moveit_msgs::GetPositionFK::Request &	request,
		moveit_msgs::GetPositionFK::Response &	response,
		const moveit_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 299 of file pr2_arm_kinematics_utils.cpp.

bool pr2_arm_kinematics::checkIKService	(	moveit_msgs::GetPositionIK::Request &	request,
		moveit_msgs::GetPositionIK::Response &	response,
		const moveit_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 317 of file pr2_arm_kinematics_utils.cpp.

bool pr2_arm_kinematics::checkJointNames	(	const std::vector< std::string > &	joint_names,
		const moveit_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 236 of file pr2_arm_kinematics_utils.cpp.

bool pr2_arm_kinematics::checkLinkName	(	const std::string &	link_name,
		const moveit_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 272 of file pr2_arm_kinematics_utils.cpp.

bool pr2_arm_kinematics::checkLinkNames	(	const std::vector< std::string > &	link_names,
		const moveit_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 259 of file pr2_arm_kinematics_utils.cpp.

bool pr2_arm_kinematics::checkRobotState	(	moveit_msgs::RobotState &	robot_state,
		const moveit_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 283 of file pr2_arm_kinematics_utils.cpp.

bool pr2_arm_kinematics::convertPoseToRootFrame	(	const geometry_msgs::PoseStamped &	pose_msg,
		KDL::Frame &	pose_kdl,
		const std::string &	root_frame,
		tf::TransformListener &	tf
	)

Definition at line 340 of file pr2_arm_kinematics_utils.cpp.

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
	)

Definition at line 353 of file pr2_arm_kinematics_utils.cpp.

int pr2_arm_kinematics::getJointIndex	(	const std::string &	name,
		const moveit_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 396 of file pr2_arm_kinematics_utils.cpp.

bool pr2_arm_kinematics::getKDLChain	(	const std::string &	xml_string,
		const std::string &	root_name,
		const std::string &	tip_name,
		KDL::Chain &	kdl_chain
	)

Definition at line 70 of file pr2_arm_kinematics_utils.cpp.

int pr2_arm_kinematics::getKDLSegmentIndex	(	const KDL::Chain &	chain,
		const std::string &	name
	)

Definition at line 420 of file pr2_arm_kinematics_utils.cpp.

bool pr2_arm_kinematics::getKDLTree	(	const std::string &	xml_string,
		const std::string &	root_name,
		const std::string &	tip_name,
		KDL::Tree &	kdl_chain
	)