#include <pr2_arm_kinematics.h>

Public Member Functions
bool	getFKSolverInfo (kinematics_msgs::GetKinematicSolverInfo::Request &request, kinematics_msgs::GetKinematicSolverInfo::Response &response)
	This is the basic kinematics info service that will return information about the kinematics node. More...

bool	getIKSolverInfo (kinematics_msgs::GetKinematicSolverInfo::Request &request, kinematics_msgs::GetKinematicSolverInfo::Response &response)
	This is the basic kinematics info service that will return information about the kinematics node. More...

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

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

bool	isActive ()
	Specifies if the node is active or not. More...

	PR2ArmKinematics (bool create_transform_listener=true)

virtual	~PR2ArmKinematics ()

Protected Member Functions
bool	getPositionIKHelper (kinematics_msgs::GetPositionIK::Request &request, kinematics_msgs::GetPositionIK::Response &response)

virtual bool	transformPose (const std::string &des_frame, const geometry_msgs::PoseStamped &pose_in, geometry_msgs::PoseStamped &pose_out)

Protected Attributes
bool	active_

int	dimension_

ros::ServiceServer	fk_service_

kinematics_msgs::KinematicSolverInfo	fk_solver_info_

ros::ServiceServer	fk_solver_info_service_

int	free_angle_

ros::ServiceServer	ik_service_

kinematics_msgs::KinematicSolverInfo	ik_solver_info_

ros::ServiceServer	ik_solver_info_service_

boost::shared_ptr< KDL::ChainFkSolverPos_recursive >	jnt_to_pose_solver_

KDL::Chain	kdl_chain_

ros::NodeHandle	node_handle_

boost::shared_ptr< pr2_arm_kinematics::PR2ArmIKSolver >	pr2_arm_ik_solver_

urdf::Model	robot_model_

ros::NodeHandle	root_handle_

std::string	root_name_

double	search_discretization_

tf::TransformListener *	tf_

Detailed Description

Definition at line 59 of file pr2_arm_kinematics.h.

Constructor & Destructor Documentation

pr2_arm_kinematics::PR2ArmKinematics::PR2ArmKinematics ( bool create_transform_listener = true )

Definition at line 58 of file pr2_arm_kinematics.cpp.

pr2_arm_kinematics::PR2ArmKinematics::~PR2ArmKinematics ( )

virtual

Definition at line 131 of file pr2_arm_kinematics.cpp.

Member Function Documentation

bool pr2_arm_kinematics::PR2ArmKinematics::getFKSolverInfo	(	kinematics_msgs::GetKinematicSolverInfo::Request &	request,
		kinematics_msgs::GetKinematicSolverInfo::Response &	response
	)

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

Parameters

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

Definition at line 241 of file pr2_arm_kinematics.cpp.

bool pr2_arm_kinematics::PR2ArmKinematics::getIKSolverInfo	(	kinematics_msgs::GetKinematicSolverInfo::Request &	request,
		kinematics_msgs::GetKinematicSolverInfo::Response &	response
	)

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

Parameters

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

Definition at line 229 of file pr2_arm_kinematics.cpp.

bool pr2_arm_kinematics::PR2ArmKinematics::getPositionFK	(	kinematics_msgs::GetPositionFK::Request &	request,
		kinematics_msgs::GetPositionFK::Response &	response
	)

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.

Definition at line 253 of file pr2_arm_kinematics.cpp.

bool pr2_arm_kinematics::PR2ArmKinematics::getPositionIK	(	kinematics_msgs::GetPositionIK::Request &	request,
		kinematics_msgs::GetPositionIK::Response &	response
	)

virtual

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.

Definition at line 145 of file pr2_arm_kinematics.cpp.

bool pr2_arm_kinematics::PR2ArmKinematics::getPositionIKHelper	(	kinematics_msgs::GetPositionIK::Request &	request,
		kinematics_msgs::GetPositionIK::Response &	response
	)

protected

Definition at line 176 of file pr2_arm_kinematics.cpp.

bool pr2_arm_kinematics::PR2ArmKinematics::isActive ( )

Specifies if the node is active or not.

Returns: True if the node is active, false otherwise.

Definition at line 138 of file pr2_arm_kinematics.cpp.

bool pr2_arm_kinematics::PR2ArmKinematics::transformPose	(	const std::string &	des_frame,
		const geometry_msgs::PoseStamped &	pose_in,
		geometry_msgs::PoseStamped &	pose_out
	)

protectedvirtual

Definition at line 307 of file pr2_arm_kinematics.cpp.

Member Data Documentation

bool pr2_arm_kinematics::PR2ArmKinematics::active_

protected

Definition at line 125 of file pr2_arm_kinematics.h.

int pr2_arm_kinematics::PR2ArmKinematics::dimension_

protected

Definition at line 134 of file pr2_arm_kinematics.h.

ros::ServiceServer pr2_arm_kinematics::PR2ArmKinematics::fk_service_

protected

Definition at line 131 of file pr2_arm_kinematics.h.

kinematics_msgs::KinematicSolverInfo pr2_arm_kinematics::PR2ArmKinematics::fk_solver_info_

protected

Definition at line 137 of file pr2_arm_kinematics.h.

ros::ServiceServer pr2_arm_kinematics::PR2ArmKinematics::fk_solver_info_service_

protected

Definition at line 131 of file pr2_arm_kinematics.h.

int pr2_arm_kinematics::PR2ArmKinematics::free_angle_

protected

Definition at line 126 of file pr2_arm_kinematics.h.

ros::ServiceServer pr2_arm_kinematics::PR2ArmKinematics::ik_service_

protected

Definition at line 131 of file pr2_arm_kinematics.h.

kinematics_msgs::KinematicSolverInfo pr2_arm_kinematics::PR2ArmKinematics::ik_solver_info_

protected

Definition at line 137 of file pr2_arm_kinematics.h.

ros::ServiceServer pr2_arm_kinematics::PR2ArmKinematics::ik_solver_info_service_

protected

Definition at line 131 of file pr2_arm_kinematics.h.

boost::shared_ptr<KDL::ChainFkSolverPos_recursive> pr2_arm_kinematics::PR2ArmKinematics::jnt_to_pose_solver_

protected

Definition at line 135 of file pr2_arm_kinematics.h.

KDL::Chain pr2_arm_kinematics::PR2ArmKinematics::kdl_chain_

protected

Definition at line 136 of file pr2_arm_kinematics.h.

ros::NodeHandle pr2_arm_kinematics::PR2ArmKinematics::node_handle_

protected

Definition at line 129 of file pr2_arm_kinematics.h.

boost::shared_ptr<pr2_arm_kinematics::PR2ArmIKSolver> pr2_arm_kinematics::PR2ArmKinematics::pr2_arm_ik_solver_

protected

Definition at line 130 of file pr2_arm_kinematics.h.

urdf::Model pr2_arm_kinematics::PR2ArmKinematics::robot_model_

protected

Definition at line 127 of file pr2_arm_kinematics.h.

ros::NodeHandle pr2_arm_kinematics::PR2ArmKinematics::root_handle_

protected

Definition at line 129 of file pr2_arm_kinematics.h.

std::string pr2_arm_kinematics::PR2ArmKinematics::root_name_

protected

Definition at line 133 of file pr2_arm_kinematics.h.

double pr2_arm_kinematics::PR2ArmKinematics::search_discretization_

protected

Definition at line 128 of file pr2_arm_kinematics.h.

tf::TransformListener* pr2_arm_kinematics::PR2ArmKinematics::tf_

protected

Definition at line 132 of file pr2_arm_kinematics.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation