sr_kinematics.cpp File Reference

A ROS node used to subscribe to the tf topic on which the reverse kinematics targets are published. Those targets are then transformed into a pose and sent to the arm_kinematics node which tries to compute the reverse kinematics. On success, the computed targets are then sent to the arm and to the hand. More...

#include <sstream>
#include <algorithm>
#include <sensor_msgs/JointState.h>
#include <kdl_parser/kdl_parser.hpp>
#include <kdl/jntarray.hpp>
#include <sr_hand/sr_kinematics.h>
#include <sr_hand/sendupdate.h>
#include <sr_hand/joint.h>

Include dependency graph for sr_kinematics.cpp:

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Namespaces
namespace	shadowrobot
Functions
int	main (int argc, char **argv)

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Detailed Description

A ROS node used to subscribe to the tf topic on which the reverse kinematics targets are published. Those targets are then transformed into a pose and sent to the arm_kinematics node which tries to compute the reverse kinematics. On success, the computed targets are then sent to the arm and to the hand.

Author:

Ugo Cupcic <ugo@shadowrobot.com>, Contact <contact@shadowrobot.com>

Date:

Thu Jul 15 11:54:22 2010

Definition in file sr_kinematics.cpp.

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

The main function initializes this reverse kinematics ros node and starts the ros spin loop.

Parameters:

argc
argv

Returns:

Definition at line 256 of file sr_kinematics.cpp.