#include <ros/ros.h>#include <vector>#include <string>#include <angles/angles.h>#include <Eigen/Core>#include <kdl/frames.hpp>#include <kdl/jntarray.hpp>#include <kdl/tree.hpp>#include <urdf/model.h>#include <kdl_parser/kdl_parser.hpp>#include <tf/tf.h>#include <tf/transform_listener.h>#include <tf_conversions/tf_kdl.h>#include <moveit_msgs/GetPositionFK.h>#include <moveit_msgs/GetPositionIK.h>#include <moveit_msgs/KinematicSolverInfo.h>
Include dependency graph for hand_kinematics_utils.h:
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Namespaces | |
| hand_kinematics | |
Functions | |
| bool | hand_kinematics::checkFKService (moveit_msgs::GetPositionFK::Request &request, moveit_msgs::GetPositionFK::Response &response, const moveit_msgs::KinematicSolverInfo &chain_info) |
| bool | hand_kinematics::checkIKService (moveit_msgs::GetPositionIK::Request &request, moveit_msgs::GetPositionIK::Response &response, const moveit_msgs::KinematicSolverInfo &chain_info) |
| bool | hand_kinematics::checkJointNames (const std::vector< std::string > &joint_names, const moveit_msgs::KinematicSolverInfo &chain_info) |
| bool | hand_kinematics::checkLinkName (const std::string &link_name, const moveit_msgs::KinematicSolverInfo &chain_info) |
| bool | hand_kinematics::checkLinkNames (const std::vector< std::string > &link_names, const moveit_msgs::KinematicSolverInfo &chain_info) |
| bool | hand_kinematics::checkRobotState (moveit_msgs::RobotState &robot_state, const moveit_msgs::KinematicSolverInfo &chain_info) |
| bool | hand_kinematics::convertPoseToRootFrame (const geometry_msgs::PoseStamped &pose_msg, KDL::Frame &pose_kdl, const std::string &root_frame, tf::TransformListener &tf) |
| bool | hand_kinematics::convertPoseToRootFrame (const geometry_msgs::PoseStamped &pose_msg, geometry_msgs::PoseStamped &pose_msg_out, const std::string &root_frame, tf::TransformListener &tf) |
| int | hand_kinematics::getJointIndex (const std::string &name, const moveit_msgs::KinematicSolverInfo &chain_info) |
| bool | hand_kinematics::getKDLChain (const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain) |
| void | hand_kinematics::getKDLChainInfo (const KDL::Chain &chain, moveit_msgs::KinematicSolverInfo &chain_info) |
| int | hand_kinematics::getKDLSegmentIndex (const KDL::Chain &chain, const std::string &name) |
| bool | hand_kinematics::getKDLTree (const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Tree &kdl_chain) |
| bool | hand_kinematics::init_ik (urdf::Model &robot_model, const std::string &root_name, const std::string &tip_name, KDL::JntArray &joint_min, KDL::JntArray &joint_max, moveit_msgs::KinematicSolverInfo &info) |
| bool | hand_kinematics::loadRobotModel (ros::NodeHandle node_handle, urdf::Model &robot_model, std::string &root_name, std::string &tip_name, std::string &xml_string) |
| Eigen::MatrixXd | hand_kinematics::updateCouplingFF (const KDL::JntArray &q) |
| Eigen::MatrixXd | hand_kinematics::updateCouplingLF (const KDL::JntArray &q) |
| Eigen::MatrixXd | hand_kinematics::updateCouplingMF (const KDL::JntArray &q) |
| Eigen::MatrixXd | hand_kinematics::updateCouplingRF (const KDL::JntArray &q) |
| Eigen::MatrixXd | hand_kinematics::updateCouplingTH (const KDL::JntArray &q) |