sr_kinematics.cpp File Reference

#include <cstring>
#include <cmath>
#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <tf_conversions/tf_kdl.h>
#include <tf/transform_datatypes.h>
#include <kdl_parser/kdl_parser.hpp>
#include <kdl/jntarray.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>
#include <moveit_msgs/GetPositionFK.h>
#include <moveit_msgs/GetPositionIK.h>
#include <moveit_msgs/GetKinematicSolverInfo.h>
#include <moveit_msgs/KinematicSolverInfo.h>
#include <urdf/model.h>
#include <string>

Include dependency graph for sr_kinematics.cpp:

Go to the source code of this file.

Classes
class	Kinematics
Defines
#define	IK_EPS   1e-5
Functions
int	main (int argc, char **argv)
bool	solveQuadratic (const double &a, const double &b, const double &c, double *x1, double *x2)
Variables
static const std::string	FK_INFO_SERVICE = "get_fk_solver_info"
static const std::string	FK_SERVICE = "get_fk"
static const std::string	IK_INFO_SERVICE = "get_ik_solver_info"
static const std::string	IK_SERVICE = "get_ik"

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Define Documentation

#define IK_EPS   1e-5

Definition at line 29 of file sr_kinematics.cpp.

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Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 667 of file sr_kinematics.cpp.

bool solveQuadratic	(	const double &	a,
		const double &	b,
		const double &	c,
		double *	x1,
		double *	x2
	)

Definition at line 32 of file sr_kinematics.cpp.

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Variable Documentation

const std::string FK_INFO_SERVICE = "get_fk_solver_info" [static]

Definition at line 27 of file sr_kinematics.cpp.

const std::string FK_SERVICE = "get_fk" [static]

Definition at line 25 of file sr_kinematics.cpp.

const std::string IK_INFO_SERVICE = "get_ik_solver_info" [static]

Definition at line 26 of file sr_kinematics.cpp.

const std::string IK_SERVICE = "get_ik" [static]

Definition at line 24 of file sr_kinematics.cpp.