#include <KNIKinematics.h>
Public Member Functions | |
| KNIKinematics () | |
| virtual | ~KNIKinematics () |
Private Member Functions | |
| bool | get_position_fk (moveit_msgs::GetPositionFK::Request &req, moveit_msgs::GetPositionFK::Response &res) |
| bool | get_position_ik (moveit_msgs::GetPositionIK::Request &req, moveit_msgs::GetPositionIK::Response &res) |
| std::vector< double > | getCoordinates () |
| std::vector< double > | getCoordinates (std::vector< double > jointAngles) |
| std::vector< int > | makeJointsLookup (std::vector< std::string > &joint_names) |
| copied from joint_trajectory_action_controller | |
Private Attributes | |
| KNIConverter * | converter_ |
| ros::ServiceServer | get_fk_server_ |
| ros::ServiceServer | get_ik_server_ |
| CikBase | ikBase_ |
| std::vector < moveit_msgs::JointLimits > | joint_limits_ |
| std::vector< std::string > | joint_names_ |
| ros::NodeHandle | nh_ |
| tf::TransformListener | tf_listener_ |
Definition at line 49 of file KNIKinematics.h.
Definition at line 30 of file KNIKinematics.cpp.
| katana::KNIKinematics::~KNIKinematics | ( | ) | [virtual] |
Definition at line 110 of file KNIKinematics.cpp.
| bool katana::KNIKinematics::get_position_fk | ( | moveit_msgs::GetPositionFK::Request & | req, |
| moveit_msgs::GetPositionFK::Response & | res | ||
| ) | [private] |
Definition at line 115 of file KNIKinematics.cpp.
| bool katana::KNIKinematics::get_position_ik | ( | moveit_msgs::GetPositionIK::Request & | req, |
| moveit_msgs::GetPositionIK::Response & | res | ||
| ) | [private] |
Definition at line 178 of file KNIKinematics.cpp.
| std::vector<double> katana::KNIKinematics::getCoordinates | ( | ) | [private] |
| std::vector< double > katana::KNIKinematics::getCoordinates | ( | std::vector< double > | jointAngles | ) | [private] |
Return the position of the tool center point as calculated by the KNI.
| jointAngles | the joint angles to compute the pose for (direct kinematics) |
Definition at line 287 of file KNIKinematics.cpp.
| std::vector< int > katana::KNIKinematics::makeJointsLookup | ( | std::vector< std::string > & | joint_names | ) | [private] |
copied from joint_trajectory_action_controller
Definition at line 257 of file KNIKinematics.cpp.
KNIConverter* katana::KNIKinematics::converter_ [private] |
Definition at line 64 of file KNIKinematics.h.
Definition at line 57 of file KNIKinematics.h.
Definition at line 58 of file KNIKinematics.h.
CikBase katana::KNIKinematics::ikBase_ [private] |
Definition at line 63 of file KNIKinematics.h.
std::vector<moveit_msgs::JointLimits> katana::KNIKinematics::joint_limits_ [private] |
Definition at line 61 of file KNIKinematics.h.
std::vector<std::string> katana::KNIKinematics::joint_names_ [private] |
Definition at line 60 of file KNIKinematics.h.
ros::NodeHandle katana::KNIKinematics::nh_ [private] |
Definition at line 56 of file KNIKinematics.h.
Definition at line 65 of file KNIKinematics.h.