katana::KNIKinematics Class Reference

#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 More...

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_

Detailed Description

Definition at line 49 of file KNIKinematics.h.

Constructor & Destructor Documentation

katana::KNIKinematics::KNIKinematics

(

)

Definition at line 30 of file KNIKinematics.cpp.

katana::KNIKinematics::~KNIKinematics ( )

virtual

Definition at line 110 of file KNIKinematics.cpp.

Member Function Documentation

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.

Parameters

jointAngles

the joint angles to compute the pose for (direct kinematics)

Returns

a vector <x, y, z, r, p, y>; xyz in [m], rpy in [rad]

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.

Member Data Documentation

KNIConverter* katana::KNIKinematics::converter_

private

Definition at line 64 of file KNIKinematics.h.

ros::ServiceServer katana::KNIKinematics::get_fk_server_

private

Definition at line 57 of file KNIKinematics.h.

ros::ServiceServer katana::KNIKinematics::get_ik_server_

private

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.

tf::TransformListener katana::KNIKinematics::tf_listener_

private

Definition at line 65 of file KNIKinematics.h.

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

• KNIKinematics.h
• KNIKinematics.cpp