pr2_arm_kinematics Namespace Reference

Classes
class	PR2ArmIK
class	PR2ArmIKSolver
class	PR2ArmKinematicsPlugin

Functions
double	computeEuclideanDistance (const std::vector< double > &array_1, const KDL::JntArray &array_2)
double	distance (const urdf::Pose &transform)
bool	getKDLChain (const urdf::ModelInterface &model, 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)
Eigen::Isometry3f	KDLToEigenMatrix (const KDL::Frame &p)
	MOVEIT_CLASS_FORWARD (PR2ArmIKSolver)
	MOVEIT_CLASS_FORWARD (PR2ArmKinematicsPlugin)
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 double	IK_EPS = 1e-5
static const int	NO_IK_SOLUTION = -1
static const int	NUM_JOINTS_ARM7DOF = 7
static const int	TIMED_OUT = -2

Function Documentation

computeEuclideanDistance()

double pr2_arm_kinematics::computeEuclideanDistance	(	const std::vector< double > &	array_1,
		const KDL::JntArray &	array_2
	)

Definition at line 235 of file pr2_arm_kinematics_plugin.cpp.

distance()

double pr2_arm_kinematics::distance ( const urdf::Pose &  transform )

inline

Definition at line 86 of file pr2_arm_ik.h.

getKDLChain()

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

Definition at line 203 of file pr2_arm_kinematics_plugin.cpp.

getKDLChainInfo()

void pr2_arm_kinematics::getKDLChainInfo	(	const KDL::Chain &	chain,
		moveit_msgs::KinematicSolverInfo &	chain_info
	)

Definition at line 245 of file pr2_arm_kinematics_plugin.cpp.

KDLToEigenMatrix()

Eigen::Isometry3f pr2_arm_kinematics::KDLToEigenMatrix

(

const KDL::Frame &

p

)

Definition at line 221 of file pr2_arm_kinematics_plugin.cpp.

MOVEIT_CLASS_FORWARD() [1/2]

pr2_arm_kinematics::MOVEIT_CLASS_FORWARD

(

PR2ArmIKSolver

)

MOVEIT_CLASS_FORWARD() [2/2]

pr2_arm_kinematics::MOVEIT_CLASS_FORWARD

(

PR2ArmKinematicsPlugin

)

solveCosineEqn()

bool pr2_arm_kinematics::solveCosineEqn ( const double &  a, const double &  b, const double &  c, double &  soln1, double &  soln2  )

inline

Definition at line 122 of file pr2_arm_ik.h.

solveQuadratic()

bool pr2_arm_kinematics::solveQuadratic ( const double &  a, const double &  b, const double &  c, double *  x1, double *  x2  )

inline

Definition at line 92 of file pr2_arm_ik.h.

Variable Documentation

IK_EPS

const double pr2_arm_kinematics::IK_EPS = 1e-5

static

Definition at line 84 of file pr2_arm_ik.h.

NO_IK_SOLUTION

const int pr2_arm_kinematics::NO_IK_SOLUTION = -1

static

Definition at line 95 of file pr2_arm_kinematics_plugin.h.

NUM_JOINTS_ARM7DOF

const int pr2_arm_kinematics::NUM_JOINTS_ARM7DOF = 7

static

Definition at line 82 of file pr2_arm_ik.h.

TIMED_OUT

const int pr2_arm_kinematics::TIMED_OUT = -2

static

Definition at line 96 of file pr2_arm_kinematics_plugin.h.