Classes | Functions | Variables
pr2_arm_kinematics Namespace Reference

Classes

class  PR2ArmIK
class  PR2ArmIKSolver
class  PR2ArmKinematicsPlugin

Functions

double computeEuclideanDistance (const std::vector< double > &array_1, const KDL::JntArray &array_2)
double distance (const urdf::Pose &transform)
bool getKDLChain (const urdf::ModelInterface &model, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain)
void getKDLChainInfo (const KDL::Chain &chain, moveit_msgs::KinematicSolverInfo &chain_info)
Eigen::Matrix4f KDLToEigenMatrix (const KDL::Frame &p)
 MOVEIT_CLASS_FORWARD (PR2ArmIKSolver)
 MOVEIT_CLASS_FORWARD (PR2ArmKinematicsPlugin)
bool solveCosineEqn (const double &a, const double &b, const double &c, double &soln1, double &soln2)
bool solveQuadratic (const double &a, const double &b, const double &c, double *x1, double *x2)

Variables

static const double IK_EPS = 1e-5
static const int NO_IK_SOLUTION = -1
static const int NUM_JOINTS_ARM7DOF = 7
static const int TIMED_OUT = -2

Function Documentation

double pr2_arm_kinematics::computeEuclideanDistance ( const std::vector< double > &  array_1,
const KDL::JntArray array_2 
)

Definition at line 233 of file pr2_arm_kinematics_plugin.cpp.

double pr2_arm_kinematics::distance ( const urdf::Pose &  transform) [inline]

Definition at line 54 of file pr2_arm_ik.h.

bool pr2_arm_kinematics::getKDLChain ( const urdf::ModelInterface &  model,
const std::string &  root_name,
const std::string &  tip_name,
KDL::Chain kdl_chain 
)

Definition at line 201 of file pr2_arm_kinematics_plugin.cpp.

void pr2_arm_kinematics::getKDLChainInfo ( const KDL::Chain chain,
moveit_msgs::KinematicSolverInfo &  chain_info 
)

Definition at line 243 of file pr2_arm_kinematics_plugin.cpp.

Eigen::Matrix4f pr2_arm_kinematics::KDLToEigenMatrix ( const KDL::Frame p)

Definition at line 219 of file pr2_arm_kinematics_plugin.cpp.

pr2_arm_kinematics::MOVEIT_CLASS_FORWARD ( PR2ArmKinematicsPlugin  )
bool pr2_arm_kinematics::solveCosineEqn ( const double &  a,
const double &  b,
const double &  c,
double &  soln1,
double &  soln2 
) [inline]

Definition at line 90 of file pr2_arm_ik.h.

bool pr2_arm_kinematics::solveQuadratic ( const double &  a,
const double &  b,
const double &  c,
double *  x1,
double *  x2 
) [inline]

Definition at line 60 of file pr2_arm_ik.h.


Variable Documentation

const double pr2_arm_kinematics::IK_EPS = 1e-5 [static]

Definition at line 52 of file pr2_arm_ik.h.

const int pr2_arm_kinematics::NO_IK_SOLUTION = -1 [static]

Definition at line 64 of file pr2_arm_kinematics_plugin.h.

Definition at line 50 of file pr2_arm_ik.h.

const int pr2_arm_kinematics::TIMED_OUT = -2 [static]

Definition at line 65 of file pr2_arm_kinematics_plugin.h.



moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Nov 26 2018 03:22:11