JacoKinematics Class Reference

Provides services for JACO kinematics. More...

#include <jaco_kinematics.h>

List of all members.

Public Member Functions
geometry_msgs::PoseStamped	calculateFK (std::vector< float > joints)
	Calculates the forward kinematics for the JACO arm.
bool	callFK (wpi_jaco_msgs::JacoFK::Request &req, wpi_jaco_msgs::JacoFK::Response &res)
	Callback for the forward kinematics service.
tf::Transform	generateTransform (float theta, float d, float a, float alpha)
	Generates a transform given D-H parameters.
	JacoKinematics (void)
Private Member Functions
bool	loadParameters (const ros::NodeHandle n)
Private Attributes
std::vector< double >	alphas
	alpha parameters in the D-H convention
std::string	arm_name_
std::vector< double >	as
	a parameters in the D-H convention
std::vector< double >	ds
	d parameters in the D-H convention
ros::ServiceServer	fkServer
ros::NodeHandle	n
std::string	topic_prefix_

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Detailed Description

Provides services for JACO kinematics.

JacoKinematics creates a ROS node that provides services for converting calculating kinematics for the JACO arm.

Definition at line 45 of file jaco_kinematics.h.

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Constructor & Destructor Documentation

JacoKinematics::JacoKinematics

(

void

)

Definition at line 5 of file jaco_kinematics.cpp.

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Member Function Documentation

geometry_msgs::PoseStamped JacoKinematics::calculateFK

(

std::vector< float >

joints

)

Calculates the forward kinematics for the JACO arm.

Parameters:

joints

vector of joint angles from the arm

Returns:

pose of the end effector relative to the arm's base

Definition at line 90 of file jaco_kinematics.cpp.

bool JacoKinematics::callFK	(	wpi_jaco_msgs::JacoFK::Request &	req,
		wpi_jaco_msgs::JacoFK::Response &	res
	)

Callback for the forward kinematics service.

Parameters:

req	service request
res	service response

Returns:

true on success

Definition at line 77 of file jaco_kinematics.cpp.

tf::Transform JacoKinematics::generateTransform	(	float	theta,
		float	d,
		float	a,
		float	alpha
	)

Generates a transform given D-H parameters.

Parameters:

theta	joint angle
d	link length
a	offset
alpha	angle offset

Returns:

the transform for one link

Definition at line 136 of file jaco_kinematics.cpp.

bool JacoKinematics::loadParameters

(

const ros::NodeHandle

n

)

[private]

Todo:

MdL [IMPR]: Return is values are all correctly loaded.

Definition at line 160 of file jaco_kinematics.cpp.

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Member Data Documentation

std::vector<double> JacoKinematics::alphas [private]

alpha parameters in the D-H convention

Definition at line 89 of file jaco_kinematics.h.

std::string JacoKinematics::arm_name_ [private]

Definition at line 83 of file jaco_kinematics.h.

std::vector<double> JacoKinematics::as [private]

a parameters in the D-H convention

Definition at line 88 of file jaco_kinematics.h.

std::vector<double> JacoKinematics::ds [private]

d parameters in the D-H convention

Definition at line 87 of file jaco_kinematics.h.

ros::ServiceServer JacoKinematics::fkServer [private]

Definition at line 81 of file jaco_kinematics.h.

ros::NodeHandle JacoKinematics::n [private]

Definition at line 80 of file jaco_kinematics.h.

std::string JacoKinematics::topic_prefix_ [private]

Definition at line 84 of file jaco_kinematics.h.

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The documentation for this class was generated from the following files:

• jaco_kinematics.h
• jaco_kinematics.cpp