pr2_arm_kinematics::PR2ArmKinematicsPlugin Class Reference

#include <pr2_arm_kinematics_plugin.h>

Public Member Functions
std::string	getBaseFrame ()
	Return the frame in which the kinematics is operating.
std::vector< std::string >	getJointNames ()
	Return all the joint names in the order they are used internally.
std::vector< std::string >	getLinkNames ()
	Return all the link names in the order they are represented internally.
bool	getPositionFK (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::Pose > &poses)
	Given a set of joint angles and a set of links, compute their pose.
bool	getPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, std::vector< double > &solution, int &error_code)
	Given a desired pose of the end-effector, compute the joint angles to reach it.
std::string	getToolFrame ()
	Return the links for which kinematics can be computed.
bool	initialize (std::string name)
	Initialization function for the kinematics.
bool	isActive ()
	Specifies if the node is active or not.
	PR2ArmKinematicsPlugin ()
bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, const double &timeout, std::vector< double > &solution, const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &desired_pose_callback, const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &solution_callback, int &error_code)
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).
bool	searchPositionIK (const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, const double &timeout, std::vector< double > &solution, int &error_code)
	Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).
Protected Member Functions
void	desiredPoseCallback (const KDL::JntArray &jnt_array, const KDL::Frame &ik_pose, motion_planning_msgs::ArmNavigationErrorCodes &error_code)
void	jointSolutionCallback (const KDL::JntArray &jnt_array, const KDL::Frame &ik_pose, motion_planning_msgs::ArmNavigationErrorCodes &error_code)
Protected Attributes
bool	active_
boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)>	desiredPoseCallback_
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_
boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)>	solutionCallback_
tf::TransformListener	tf_

Detailed Description

Definition at line 60 of file pr2_arm_kinematics_plugin.h.

Constructor & Destructor Documentation

pr2_arm_kinematics::PR2ArmKinematicsPlugin::PR2ArmKinematicsPlugin ( )

Definition at line 54 of file pr2_arm_kinematics_plugin.cpp.

Member Function Documentation

void pr2_arm_kinematics::PR2ArmKinematicsPlugin::desiredPoseCallback	(	const KDL::JntArray &	jnt_array,
		const KDL::Frame &	ik_pose,
		motion_planning_msgs::ArmNavigationErrorCodes &	error_code
	)			`[protected]`

Definition at line 219 of file pr2_arm_kinematics_plugin.cpp.

std::string pr2_arm_kinematics::PR2ArmKinematicsPlugin::getBaseFrame ( )

Return the frame in which the kinematics is operating.

Returns:: the string name of the frame in which the kinematics is operating

Definition at line 358 of file pr2_arm_kinematics_plugin.cpp.

std::vector< std::string > pr2_arm_kinematics::PR2ArmKinematicsPlugin::getJointNames ( )

Return all the joint names in the order they are used internally.

Definition at line 378 of file pr2_arm_kinematics_plugin.cpp.

std::vector< std::string > pr2_arm_kinematics::PR2ArmKinematicsPlugin::getLinkNames ( )

Return all the link names in the order they are represented internally.

Definition at line 389 of file pr2_arm_kinematics_plugin.cpp.

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::getPositionFK	(	const std::vector< std::string > &	link_names,
		const std::vector< double > &	joint_angles,
		std::vector< geometry_msgs::Pose > &	poses
	)

Given a set of joint angles and a set of links, compute their pose.

Parameters:

	request	- the request contains the joint angles, set of links for which poses are to be computed and a timeout
	response	- the response contains stamped pose information for all the requested links

Returns:: True if a valid solution was found, false otherwise

Definition at line 318 of file pr2_arm_kinematics_plugin.cpp.

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::getPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		std::vector< double > &	solution,
		int &	error_code
	)

Given a desired pose of the end-effector, compute the joint angles to reach it.

Parameters:

	ik_link_name	- the name of the link for which IK is being computed
	ik_pose	the desired pose of the link
	ik_seed_state	an initial guess solution for the inverse kinematics

Returns:: True if a valid solution was found, false otherwise

Definition at line 117 of file pr2_arm_kinematics_plugin.cpp.

std::string pr2_arm_kinematics::PR2ArmKinematicsPlugin::getToolFrame ( )

Return the links for which kinematics can be computed.

Definition at line 368 of file pr2_arm_kinematics_plugin.cpp.

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::initialize ( std::string name )

Initialization function for the kinematics.

Returns:: True if initialization was successful, false otherwise

Definition at line 63 of file pr2_arm_kinematics_plugin.cpp.

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::isActive ( )

Specifies if the node is active or not.

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

Definition at line 56 of file pr2_arm_kinematics_plugin.cpp.

void pr2_arm_kinematics::PR2ArmKinematicsPlugin::jointSolutionCallback	(	const KDL::JntArray &	jnt_array,
		const KDL::Frame &	ik_pose,
		motion_planning_msgs::ArmNavigationErrorCodes &	error_code
	)			`[protected]`

Definition at line 240 of file pr2_arm_kinematics_plugin.cpp.

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		const double &	timeout,
		std::vector< double > &	solution,
		const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &	desired_pose_callback,
		const boost::function< void(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_solution, int &error_code)> &	solution_callback,
		int &	error_code
	)

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters:

	ik_pose	the desired pose of the link
	ik_seed_state	an initial guess solution for the inverse kinematics

Returns:: True if a valid solution was found, false otherwise

Definition at line 260 of file pr2_arm_kinematics_plugin.cpp.

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::searchPositionIK	(	const geometry_msgs::Pose &	ik_pose,
		const std::vector< double > &	ik_seed_state,
		const double &	timeout,
		std::vector< double > &	solution,
		int &	error_code
	)

Given a desired pose of the end-effector, search for the joint angles required to reach it. This particular method is intended for "searching" for a solutions by stepping through the redundancy (or other numerical routines).

Parameters:

	ik_pose	the desired pose of the link
	ik_seed_state	an initial guess solution for the inverse kinematics

Returns:: True if a valid solution was found, false otherwise

Definition at line 167 of file pr2_arm_kinematics_plugin.cpp.

Member Data Documentation

bool pr2_arm_kinematics::PR2ArmKinematicsPlugin::active_ [protected]

Definition at line 153 of file pr2_arm_kinematics_plugin.h.

boost::function<void(const geometry_msgs::Pose &ik_pose,const std::vector<double> &ik_solution,int &error_code)> pr2_arm_kinematics::PR2ArmKinematicsPlugin::desiredPoseCallback_ [protected]

Definition at line 167 of file pr2_arm_kinematics_plugin.h.

int pr2_arm_kinematics::PR2ArmKinematicsPlugin::dimension_ [protected]

Definition at line 162 of file pr2_arm_kinematics_plugin.h.

ros::ServiceServer pr2_arm_kinematics::PR2ArmKinematicsPlugin::fk_service_ [protected]

Definition at line 159 of file pr2_arm_kinematics_plugin.h.

kinematics_msgs::KinematicSolverInfo pr2_arm_kinematics::PR2ArmKinematicsPlugin::fk_solver_info_ [protected]

Definition at line 165 of file pr2_arm_kinematics_plugin.h.

ros::ServiceServer pr2_arm_kinematics::PR2ArmKinematicsPlugin::fk_solver_info_service_ [protected]

Definition at line 159 of file pr2_arm_kinematics_plugin.h.

int pr2_arm_kinematics::PR2ArmKinematicsPlugin::free_angle_ [protected]

Definition at line 154 of file pr2_arm_kinematics_plugin.h.

ros::ServiceServer pr2_arm_kinematics::PR2ArmKinematicsPlugin::ik_service_ [protected]

Definition at line 159 of file pr2_arm_kinematics_plugin.h.

kinematics_msgs::KinematicSolverInfo pr2_arm_kinematics::PR2ArmKinematicsPlugin::ik_solver_info_ [protected]

Definition at line 165 of file pr2_arm_kinematics_plugin.h.

ros::ServiceServer pr2_arm_kinematics::PR2ArmKinematicsPlugin::ik_solver_info_service_ [protected]

Definition at line 159 of file pr2_arm_kinematics_plugin.h.

boost::shared_ptr<KDL::ChainFkSolverPos_recursive> pr2_arm_kinematics::PR2ArmKinematicsPlugin::jnt_to_pose_solver_ [protected]

Definition at line 163 of file pr2_arm_kinematics_plugin.h.

KDL::Chain pr2_arm_kinematics::PR2ArmKinematicsPlugin::kdl_chain_ [protected]

Definition at line 164 of file pr2_arm_kinematics_plugin.h.

ros::NodeHandle pr2_arm_kinematics::PR2ArmKinematicsPlugin::node_handle_ [protected]

Definition at line 157 of file pr2_arm_kinematics_plugin.h.

boost::shared_ptr<pr2_arm_kinematics::PR2ArmIKSolver> pr2_arm_kinematics::PR2ArmKinematicsPlugin::pr2_arm_ik_solver_ [protected]

Definition at line 158 of file pr2_arm_kinematics_plugin.h.

urdf::Model pr2_arm_kinematics::PR2ArmKinematicsPlugin::robot_model_ [protected]

Definition at line 155 of file pr2_arm_kinematics_plugin.h.

ros::NodeHandle pr2_arm_kinematics::PR2ArmKinematicsPlugin::root_handle_ [protected]

Definition at line 157 of file pr2_arm_kinematics_plugin.h.

std::string pr2_arm_kinematics::PR2ArmKinematicsPlugin::root_name_ [protected]

Definition at line 161 of file pr2_arm_kinematics_plugin.h.

double pr2_arm_kinematics::PR2ArmKinematicsPlugin::search_discretization_ [protected]

Definition at line 156 of file pr2_arm_kinematics_plugin.h.

boost::function<void(const geometry_msgs::Pose &ik_pose,const std::vector<double> &ik_solution,int &error_code)> pr2_arm_kinematics::PR2ArmKinematicsPlugin::solutionCallback_ [protected]

Definition at line 168 of file pr2_arm_kinematics_plugin.h.

tf::TransformListener pr2_arm_kinematics::PR2ArmKinematicsPlugin::tf_ [protected]

Definition at line 160 of file pr2_arm_kinematics_plugin.h.

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

pr2_arm_kinematics::PR2ArmKinematicsPlugin Class Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation