Public Member Functions | Private Member Functions | Private Attributes | List of all members
katana::KNIKinematics Class Reference

#include <KNIKinematics.h>

Public Member Functions

 KNIKinematics ()
 
virtual ~KNIKinematics ()
 

Private Member Functions

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)
 
std::vector< double > getCoordinates ()
 
std::vector< double > getCoordinates (std::vector< double > jointAngles)
 
std::vector< int > makeJointsLookup (std::vector< std::string > &joint_names)
 copied from joint_trajectory_action_controller More...
 

Private Attributes

KNIConverterconverter_
 
ros::ServiceServer get_fk_server_
 
ros::ServiceServer get_ik_server_
 
CikBase ikBase_
 
std::vector< moveit_msgs::JointLimits > joint_limits_
 
std::vector< std::string > joint_names_
 
ros::NodeHandle nh_
 
tf::TransformListener tf_listener_
 

Detailed Description

Definition at line 49 of file KNIKinematics.h.

Constructor & Destructor Documentation

katana::KNIKinematics::KNIKinematics ( )

Definition at line 30 of file KNIKinematics.cpp.

katana::KNIKinematics::~KNIKinematics ( )
virtual

Definition at line 110 of file KNIKinematics.cpp.

Member Function Documentation

bool katana::KNIKinematics::get_position_fk ( moveit_msgs::GetPositionFK::Request &  req,
moveit_msgs::GetPositionFK::Response &  res 
)
private

Definition at line 115 of file KNIKinematics.cpp.

bool katana::KNIKinematics::get_position_ik ( moveit_msgs::GetPositionIK::Request &  req,
moveit_msgs::GetPositionIK::Response &  res 
)
private

Definition at line 178 of file KNIKinematics.cpp.

std::vector<double> katana::KNIKinematics::getCoordinates ( )
private
std::vector< double > katana::KNIKinematics::getCoordinates ( std::vector< double >  jointAngles)
private

Return the position of the tool center point as calculated by the KNI.

Parameters
jointAnglesthe joint angles to compute the pose for (direct kinematics)
Returns
a vector <x, y, z, r, p, y>; xyz in [m], rpy in [rad]

Definition at line 287 of file KNIKinematics.cpp.

std::vector< int > katana::KNIKinematics::makeJointsLookup ( std::vector< std::string > &  joint_names)
private

copied from joint_trajectory_action_controller

Definition at line 257 of file KNIKinematics.cpp.

Member Data Documentation

KNIConverter* katana::KNIKinematics::converter_
private

Definition at line 64 of file KNIKinematics.h.

ros::ServiceServer katana::KNIKinematics::get_fk_server_
private

Definition at line 57 of file KNIKinematics.h.

ros::ServiceServer katana::KNIKinematics::get_ik_server_
private

Definition at line 58 of file KNIKinematics.h.

CikBase katana::KNIKinematics::ikBase_
private

Definition at line 63 of file KNIKinematics.h.

std::vector<moveit_msgs::JointLimits> katana::KNIKinematics::joint_limits_
private

Definition at line 61 of file KNIKinematics.h.

std::vector<std::string> katana::KNIKinematics::joint_names_
private

Definition at line 60 of file KNIKinematics.h.

ros::NodeHandle katana::KNIKinematics::nh_
private

Definition at line 56 of file KNIKinematics.h.

tf::TransformListener katana::KNIKinematics::tf_listener_
private

Definition at line 65 of file KNIKinematics.h.


The documentation for this class was generated from the following files:


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