#include <pr2_arm_kinematics_plugin.h>

Inheritance diagram for pr2_arm_kinematics::PR2ArmKinematicsPlugin:

Public Member Functions
const std::vector< std::string > &	getJointNames () const
	Return all the joint names in the order they are used internally.
const std::vector< std::string > &	getLinkNames () const
	Return all the link names in the order they are represented internally.
virtual bool	getPositionFK (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::Pose > &poses)
	Given a set of joint angles and a set of links, compute their pose.
virtual bool	getPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, std::vector< double > &solution, int &error_code)
	Given a desired pose of the end-effector, compute the joint angles to reach it.
virtual bool	initialize (const std::string &group_name, const std::string &base_name, const std::string &tip_name, const double &search_discretization)
	Initialization function for the kinematics.
bool	isActive ()
	Specifies if the node is active or not.
	PR2ArmKinematicsPlugin ()
virtual bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, const double &timeout, std::vector< double > &solution, int &error_code)
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).
virtual bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, const double &timeout, const unsigned int &redundancy, const double &consistency_limit, std::vector< double > &solution, int &error_code)
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).
virtual bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, const double &timeout, std::vector< double > &solution, const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &desired_pose_callback, const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &solution_callback, int &error_code)
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).
virtual bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, const double &timeout, const unsigned int &redundancy, const double &consistency_limit, std::vector< double > &solution, const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &desired_pose_callback, const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &solution_callback, int &error_code)
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines). The consistency_limit specifies that only certain redundancy positions around those specified in the seed state are admissible and need to be searched.
Protected Member Functions
void	desiredPoseCallback (const KDL::JntArray &jnt_array, const KDL::Frame &ik_pose, arm_navigation_msgs::ArmNavigationErrorCodes &error_code)
void	jointSolutionCallback (const KDL::JntArray &jnt_array, const KDL::Frame &ik_pose, arm_navigation_msgs::ArmNavigationErrorCodes &error_code)
Protected Attributes
bool	active_
boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)>	desiredPoseCallback_
int	dimension_
ros::ServiceServer	fk_service_
kinematics_msgs::KinematicSolverInfo	fk_solver_info_
ros::ServiceServer	fk_solver_info_service_
int	free_angle_
ros::ServiceServer	ik_service_
kinematics_msgs::KinematicSolverInfo	ik_solver_info_
ros::ServiceServer	ik_solver_info_service_
boost::shared_ptr < KDL::ChainFkSolverPos_recursive >	jnt_to_pose_solver_
KDL::Chain	kdl_chain_
ros::NodeHandle	node_handle_
boost::shared_ptr < pr2_arm_kinematics::PR2ArmIKSolver >	pr2_arm_ik_solver_
urdf::Model	robot_model_
ros::NodeHandle	root_handle_
std::string	root_name_
boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)>	solutionCallback_

Detailed Description

Definition at line 62 of file pr2_arm_kinematics_plugin.h.

Constructor & Destructor Documentation

pr2_arm_kinematics::PR2ArmKinematicsPlugin::PR2ArmKinematicsPlugin ( )

Definition at line 54 of file pr2_arm_kinematics_plugin.cpp.

Member Function Documentation

void pr2_arm_kinematics::PR2ArmKinematicsPlugin::desiredPoseCallback	(	const KDL::JntArray &	jnt_array,
		const KDL::Frame &	ik_pose,
		arm_navigation_msgs::ArmNavigationErrorCodes &	error_code
	)		`[protected]`

Definition at line 281 of file pr2_arm_kinematics_plugin.cpp.

const std::vector< std::string > & pr2_arm_kinematics::PR2ArmKinematicsPlugin::getJointNames ( ) const [virtual]

Return all the joint names in the order they are used internally.

Implements kinematics::KinematicsBase.

Definition at line 484 of file pr2_arm_kinematics_plugin.cpp.

const std::vector< std::string > & pr2_arm_kinematics::PR2ArmKinematicsPlugin::getLinkNames ( ) const [virtual]

Return all the link names in the order they are represented internally.

Implements kinematics::KinematicsBase.

Definition at line 493 of file pr2_arm_kinematics_plugin.cpp.

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::getPositionFK	(	const std::vector< std::string > &	link_names,
		const std::vector< double > &	joint_angles,
		std::vector< geometry_msgs::Pose > &	poses
	)		`[virtual]`

Given a set of joint angles and a set of links, compute their pose.

Parameters:

request	- the request contains the joint angles, set of links for which poses are to be computed and a timeout
response	- the response contains stamped pose information for all the requested links

Returns:: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 444 of file pr2_arm_kinematics_plugin.cpp.

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::getPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution,
		int &	error_code
	)		`[virtual]`

Given a desired pose of the end-effector, compute the joint angles to reach it.

Parameters:

ik_link_name	- the name of the link for which IK is being computed
ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics

Returns:: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 120 of file pr2_arm_kinematics_plugin.cpp.

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::initialize	(	const std::string &	group_name,
		const std::string &	base_name,
		const std::string &	tip_name,
		const double &	search_discretization
	)		`[virtual]`

Initialization function for the kinematics.

Returns:: True if initialization was successful, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 63 of file pr2_arm_kinematics_plugin.cpp.

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::isActive ( )

Specifies if the node is active or not.

Returns:: True if the node is active, false otherwise.

Definition at line 56 of file pr2_arm_kinematics_plugin.cpp.

void pr2_arm_kinematics::PR2ArmKinematicsPlugin::jointSolutionCallback	(	const KDL::JntArray &	jnt_array,
		const KDL::Frame &	ik_pose,
		arm_navigation_msgs::ArmNavigationErrorCodes &	error_code
	)		`[protected]`

Definition at line 302 of file pr2_arm_kinematics_plugin.cpp.

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		const double &	timeout,
		std::vector< double > &	solution,
		int &	error_code
	)		`[virtual]`

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters:

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics

Returns:: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 171 of file pr2_arm_kinematics_plugin.cpp.

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		const double &	timeout,
		const unsigned int &	redundancy,
		const double &	consistency_limit,
		std::vector< double > &	solution,
		int &	error_code
	)		`[virtual]`

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters:

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics
consistency_limit	the distance that the redundancy can be from the current position

Returns:: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 221 of file pr2_arm_kinematics_plugin.cpp.

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		const double &	timeout,
		std::vector< double > &	solution,
		const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &	desired_pose_callback,
		const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &	solution_callback,
		int &	error_code
	)		`[virtual]`

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters:

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics

Returns:: True if a valid solution was found, false otherwise

Implements kinematics::KinematicsBase.

Definition at line 322 of file pr2_arm_kinematics_plugin.cpp.

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		const double &	timeout,
		const unsigned int &	redundancy,
		const double &	consistency_limit,
		std::vector< double > &	solution,
		const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &	desired_pose_callback,
		const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &	solution_callback,
		int &	error_code
	)		`[virtual]`

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines). The consistency_limit specifies that only certain redundancy positions around those specified in the seed state are admissible and need to be searched.

Parameters:

ik_pose	the desired pose of the link
ik_seed_state	an initial guess solution for the inverse kinematics
consistency_limit	the distance that the redundancy can be from the current position