arm_kinematics_constraint_aware_utils.h File Reference

#include <ros/ros.h>
#include <urdf/model.h>
#include <vector>
#include <Eigen/Core>
#include <kdl/frames.hpp>
#include <kdl/jntarray.hpp>
#include <kdl/tree.hpp>
#include <kdl_parser/kdl_parser.hpp>
#include <tf/tf.h>
#include <tf/transform_listener.h>
#include <tf_conversions/tf_kdl.h>
#include <kinematics_base/kinematics_base.h>
#include <kinematics_msgs/GetPositionFK.h>
#include <kinematics_msgs/GetPositionIK.h>
#include <kinematics_msgs/GetConstraintAwarePositionIK.h>
#include <kinematics_msgs/GetKinematicSolverInfo.h>
#include <angles/angles.h>

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Namespaces
namespace	arm_kinematics_constraint_aware
Functions
bool	arm_kinematics_constraint_aware::checkConstraintAwareIKService (kinematics_msgs::GetConstraintAwarePositionIK::Request &request, kinematics_msgs::GetConstraintAwarePositionIK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool	arm_kinematics_constraint_aware::checkFKService (kinematics_msgs::GetPositionFK::Request &request, kinematics_msgs::GetPositionFK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool	arm_kinematics_constraint_aware::checkIKService (kinematics_msgs::GetPositionIK::Request &request, kinematics_msgs::GetPositionIK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool	arm_kinematics_constraint_aware::checkJointNames (const std::vector< std::string > &joint_names, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool	arm_kinematics_constraint_aware::checkLinkName (const std::string &link_name, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool	arm_kinematics_constraint_aware::checkLinkNames (const std::vector< std::string > &link_names, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool	arm_kinematics_constraint_aware::checkRobotState (arm_navigation_msgs::RobotState &robot_state, const kinematics_msgs::KinematicSolverInfo &chain_info)
double	arm_kinematics_constraint_aware::computeEuclideanDistance (const std::vector< double > &array_1, const KDL::JntArray &array_2)
bool	arm_kinematics_constraint_aware::convertPoseToRootFrame (const geometry_msgs::PoseStamped &pose_msg, KDL::Frame &pose_kdl, const std::string &root_frame, const tf::TransformListener &tf)
bool	arm_kinematics_constraint_aware::convertPoseToRootFrame (const geometry_msgs::PoseStamped &pose_msg, geometry_msgs::PoseStamped &pose_msg_out, const std::string &root_frame, const tf::TransformListener &tf)
double	arm_kinematics_constraint_aware::distance (const urdf::Pose &transform)
bool	arm_kinematics_constraint_aware::extractJointState (const sensor_msgs::JointState &joint_state, const std::vector< std::string > &joint_names, std::vector< double > &values)
bool	arm_kinematics_constraint_aware::getChainInfo (const std::string &name, kinematics_msgs::KinematicSolverInfo &chain_info)
bool	arm_kinematics_constraint_aware::getChainInfoFromRobotModel (urdf::Model &robot_model, const std::string &root_name, const std::string &tip_name, kinematics_msgs::KinematicSolverInfo &chain_info)
int	arm_kinematics_constraint_aware::getJointIndex (const std::string &name, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool	arm_kinematics_constraint_aware::getKDLChain (const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain)
void	arm_kinematics_constraint_aware::getKDLChainInfo (const KDL::Chain &chain, kinematics_msgs::KinematicSolverInfo &chain_info)
int	arm_kinematics_constraint_aware::getKDLSegmentIndex (const KDL::Chain &chain, const std::string &name)
bool	arm_kinematics_constraint_aware::getKDLTree (const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Tree &kdl_chain)
Eigen::Matrix4f	arm_kinematics_constraint_aware::KDLToEigenMatrix (const KDL::Frame &p)
arm_navigation_msgs::ArmNavigationErrorCodes	arm_kinematics_constraint_aware::kinematicsErrorCodeToMotionPlanningErrorCode (const int &kinematics_error_code)
bool	arm_kinematics_constraint_aware::loadRobotModel (ros::NodeHandle node_handle, urdf::Model &robot_model, std::string &root_name, std::string &tip_name, std::string &xml_string)
Eigen::Matrix4f	arm_kinematics_constraint_aware::matrixInverse (const Eigen::Matrix4f &g)
void	arm_kinematics_constraint_aware::reorderJointState (sensor_msgs::JointState &joint_state, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool	arm_kinematics_constraint_aware::solveCosineEqn (const double &a, const double &b, const double &c, double &soln1, double &soln2)
bool	arm_kinematics_constraint_aware::solveQuadratic (const double &a, const double &b, const double &c, double *x1, double *x2)