#include <kdl_parser/kdl_parser.hpp>
#include <ros/ros.h>
#include <ros/package.h>
#include <stdlib.h>
#include <actionlib/client/simple_action_client.h>
#include <kdl/frames.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>
#include <kdl/chainidsolver_recursive_newton_euler.hpp>
#include <kdl/chainiksolvervel_pinv.hpp>
#include <sensor_msgs/JointState.h>
#include <svenzva_msgs/SvenzvaJointAction.h>
#include <geometry_msgs/Twist.h>

Include dependency graph for revel_cartesian_vel.cpp:

Functions
void	cart_vel_cb (const geometry_msgs::TwistConstPtr &msg)

void	js_cb (const sensor_msgs::JointState::ConstPtr &msg)

int	main (int argc, char **argv)

Variables
KDL::Chain	chain

svenzva_msgs::SvenzvaJointGoal	goal

KDL::JntArray	jnt_q (mNumJnts)

KDL::JntArray	jnt_qd (mNumJnts)

KDL::JntArray	jnt_qdd (mNumJnts)

KDL::JntArray	jnt_taugc (mNumJnts)

sensor_msgs::JointState	joint_states

int	mNumJnts = 6

KDL::Tree	my_tree

bool	vel_updated = false