Private Member Functions
void	generateRandomJntSeed (KDL::JntArray &jnt_pos_in)
	This method generates a random joint array vector between the joint limits so that local minima in IK can be avoided. More...

int	getJointIndex (const std::string &name)

int	getKDLSegmentIndex (const std::string &name)

bool	getPositionFK (moveit_msgs::GetPositionFK::Request &request, moveit_msgs::GetPositionFK::Response &response)
	This is the basic forward kinematics service that will return information about the kinematics node. More...

bool	getPositionIK (moveit_msgs::GetPositionIK::Request &request, moveit_msgs::GetPositionIK::Response &response)
	This is the basic IK service method that will compute and return an IK solution. More...

bool	loadModel (const std::string xml)

bool	readJoints (urdf::Model &robot_model)

Private Attributes
KDL::Chain_coupling	chain

std::string	finger_base_name

ros::ServiceServer	fk_service

KDL::ChainFkSolverPos_recursive *	fk_solver

ros::ServiceServer	ik_service

KDL::ChainIkSolverPos_NR_JL_coupling *	ik_solver_pos

KDL::ChainIkSolverVel_wdls_coupling *	ik_solver_vel

moveit_msgs::KinematicSolverInfo	info

KDL::JntArray	joint_max

KDL::JntArray	joint_min

ros::NodeHandle	nh

ros::NodeHandle	nh_private

unsigned int	num_joints

std::string	root_name

tf::TransformListener	tf_listener

std::string	tip_name

Detailed Description

Constructor & Destructor Documentation

Kinematics::Kinematics ( )

void Kinematics::generateRandomJntSeed ( KDL::JntArray & jnt_pos_in )

private

This method generates a random joint array vector between the joint limits so that local minima in IK can be avoided.

Parameters

Joint vector to be initialized with random values.

int Kinematics::getJointIndex ( const std::string & name )

private

int Kinematics::getKDLSegmentIndex ( const std::string & name )

private

bool Kinematics::getPositionFK	(	moveit_msgs::GetPositionFK::Request &	request,
		moveit_msgs::GetPositionFK::Response &	response
	)

private

This is the basic forward kinematics service that will return information about the kinematics node.

Parameters

A	request message. See service definition for GetPositionFK for more information on this message.
The	response message. See service definition for GetPositionFK for more information on this message.

bool Kinematics::getPositionIK	(	moveit_msgs::GetPositionIK::Request &	request,
		moveit_msgs::GetPositionIK::Response &	response
	)

private

This is the basic IK service method that will compute and return an IK solution.

Parameters

A	request message. See service definition for GetPositionIK for more information on this message.
The	response message. See service definition for GetPositionIK for more information on this message.

bool Kinematics::init ( )

bool Kinematics::loadModel ( const std::string xml )

private

bool Kinematics::readJoints ( urdf::Model & robot_model )

private