#include <pr2_arm_kinematics/pr2_arm_kinematics_utils.h>#include <pr2_arm_kinematics/pr2_arm_kinematics_constants.h>
Include dependency graph for pr2_arm_kinematics_utils.cpp:
Go to the source code of this file.
Namespaces | |
| namespace | pr2_arm_kinematics |
Functions | |
| bool | pr2_arm_kinematics::checkConstraintAwareIKService (kinematics_msgs::GetConstraintAwarePositionIK::Request &request, kinematics_msgs::GetConstraintAwarePositionIK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| bool | pr2_arm_kinematics::checkFKService (kinematics_msgs::GetPositionFK::Request &request, kinematics_msgs::GetPositionFK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| bool | pr2_arm_kinematics::checkIKService (kinematics_msgs::GetPositionIK::Request &request, kinematics_msgs::GetPositionIK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| bool | pr2_arm_kinematics::checkJointNames (const std::vector< std::string > &joint_names, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| bool | pr2_arm_kinematics::checkLinkName (const std::string &link_name, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| bool | pr2_arm_kinematics::checkLinkNames (const std::vector< std::string > &link_names, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| bool | pr2_arm_kinematics::checkRobotState (arm_navigation_msgs::RobotState &robot_state, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| double | pr2_arm_kinematics::computeEuclideanDistance (const std::vector< double > &array_1, const KDL::JntArray &array_2) |
| bool | pr2_arm_kinematics::convertPoseToRootFrame (const geometry_msgs::PoseStamped &pose_msg, KDL::Frame &pose_kdl, const std::string &root_frame, tf::TransformListener &tf) |
| 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) |
| double | pr2_arm_kinematics::distance (const urdf::Pose &transform) |
| int | pr2_arm_kinematics::getJointIndex (const std::string &name, const kinematics_msgs::KinematicSolverInfo &chain_info) |
| bool | pr2_arm_kinematics::getKDLChain (const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain) |
| void | pr2_arm_kinematics::getKDLChainInfo (const KDL::Chain &chain, kinematics_msgs::KinematicSolverInfo &chain_info) |
| int | pr2_arm_kinematics::getKDLSegmentIndex (const KDL::Chain &chain, const std::string &name) |
| bool | pr2_arm_kinematics::getKDLTree (const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Tree &kdl_chain) |
| Eigen::Matrix4f | pr2_arm_kinematics::KDLToEigenMatrix (const KDL::Frame &p) |
| bool | pr2_arm_kinematics::loadRobotModel (ros::NodeHandle node_handle, urdf::Model &robot_model, std::string &xml_string) |
| Eigen::Matrix4f | pr2_arm_kinematics::matrixInverse (const Eigen::Matrix4f &g) |
| bool | pr2_arm_kinematics::solveCosineEqn (const double &a, const double &b, const double &c, double &soln1, double &soln2) |
| bool | pr2_arm_kinematics::solveQuadratic (const double &a, const double &b, const double &c, double *x1, double *x2) |
Variables | |
| static const double | pr2_arm_kinematics::IK_DEFAULT_TIMEOUT = 10.0 |