KNIKinematics.h
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1 /*
2  * UOS-ROS packages - Robot Operating System code by the University of Osnabrück
3  * Copyright (C) 2011 University of Osnabrück
4  *
5  * This program is free software; you can redistribute it and/or
6  * modify it under the terms of the GNU General Public License
7  * as published by the Free Software Foundation; either version 2
8  * of the License, or (at your option) any later version.
9  *
10  * This program is distributed in the hope that it will be useful,
11  * but WITHOUT ANY WARRANTY; without even the implied warranty of
12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13  * GNU General Public License for more details.
14  *
15  * You should have received a copy of the GNU General Public License
16  * along with this program; if not, write to the Free Software
17  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
18  *
19  * KNIKinematics.h
20  *
21  * Created on: 20.01.2011
22  * Author: Martin Günther
23  */
24 
25 #ifndef KNIKINEMATICS_H_
26 #define KNIKINEMATICS_H_
27 
28 #include <ros/ros.h>
29 #include <ros/package.h>
30 #include <tf/transform_listener.h>
31 #include <geometry_msgs/PoseStamped.h>
32 #include <moveit_msgs/GetPositionFK.h>
33 #include <moveit_msgs/GetPositionIK.h>
34 #include <moveit_msgs/JointLimits.h>
35 #include <urdf/model.h>
36 
37 #include <KNI_InvKin/ikBase.h>
38 #include <KNI/kmlFactories.h>
40 
41 #include <katana/KNIConverter.h>
43 
45 
46 namespace katana
47 {
48 
50 {
51 public:
52  KNIKinematics();
53  virtual ~KNIKinematics();
54 
55 private:
59 
60  std::vector<std::string> joint_names_;
61  std::vector<moveit_msgs::JointLimits> joint_limits_;
62 
66 
67  bool get_position_fk(moveit_msgs::GetPositionFK::Request &req, moveit_msgs::GetPositionFK::Response &res);
68  bool get_position_ik(moveit_msgs::GetPositionIK::Request &req, moveit_msgs::GetPositionIK::Response &res);
69 
70  std::vector<double> getCoordinates();
71  std::vector<double> getCoordinates(std::vector<double> jointAngles);
72  std::vector<int> makeJointsLookup(std::vector<std::string> &joint_names);
73 
74 };
75 
76 }
77 
78 #endif /* KNIKINEMATICS_H_ */
bool get_position_fk(moveit_msgs::GetPositionFK::Request &req, moveit_msgs::GetPositionFK::Response &res)
bool get_position_ik(moveit_msgs::GetPositionIK::Request &req, moveit_msgs::GetPositionIK::Response &res)
ros::ServiceServer get_fk_server_
Definition: KNIKinematics.h:57
tf::TransformListener tf_listener_
Definition: KNIKinematics.h:65
std::vector< std::string > joint_names_
Definition: KNIKinematics.h:60
KNIConverter * converter_
Definition: KNIKinematics.h:64
ros::ServiceServer get_ik_server_
Definition: KNIKinematics.h:58
ros::NodeHandle nh_
Definition: KNIKinematics.h:56
std::vector< double > getCoordinates()
std::vector< moveit_msgs::JointLimits > joint_limits_
Definition: KNIKinematics.h:61
std::vector< int > makeJointsLookup(std::vector< std::string > &joint_names)
copied from joint_trajectory_action_controller


katana
Author(s): Martin Günther
autogenerated on Fri Jun 7 2019 22:06:58