wviz_kinematic_manager::KinematicService Class Reference

#include <wviz_kinematic_manager.h>

List of all members.

Public Member Functions
kinematics_msgs::GetPositionFK::Response	getFKSol (std::vector< std::string > target_links, sensor_msgs::JointState joint_state)
kinematics_msgs::GetPositionIK::Response	getIKSol (std::string target, std::string target_header_link, geometry_msgs::Pose &target_pose)
bool	KinematicHandler (wviz_kinematic_manager::getPose::Request &req, wviz_kinematic_manager::getPose::Response &resp)
	/get_pose service callback function. Receives the desired pose of target frame and computes Inverse Kinematic and Forward Kinematics,
bool	KinematicRelease (wviz_kinematic_manager::releasePose::Request &req, wviz_kinematic_manager::releasePose::Response &resp)
	/release_pose service callback function. publishes the last reachable position.
	KinematicService (ros::NodeHandle &node)
void	moveArm (sensor_msgs::JointState joint_state)
void	spin ()
	~KinematicService ()
Private Attributes
ros::ServiceServer	getpose_srv
ros::ServiceClient	l_fk_client
ros::ServiceClient	l_ik_client
ros::ServiceClient	l_query_client
kinematics_msgs::KinematicSolverInfo	l_solver_info
kinematics_msgs::GetPositionFK::Response	lastFKSol
kinematics_msgs::GetPositionIK::Response	lastIKSol
sensor_msgs::JointState	lastSol
ros::NodeHandle	node
ros::Publisher	pub_left
ros::Publisher	pub_right
bool	publishReady
ros::ServiceClient	r_fk_client
ros::ServiceClient	r_ik_client
ros::ServiceClient	r_query_client
kinematics_msgs::KinematicSolverInfo	r_solver_info
ros::ServiceServer	releasepose_srv

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Detailed Description

Definition at line 52 of file wviz_kinematic_manager.h.

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Constructor & Destructor Documentation

wviz_kinematic_manager::KinematicService::KinematicService

(

ros::NodeHandle &

node

)

Definition at line 40 of file wviz_kinematic_manager.cpp.

wviz_kinematic_manager::KinematicService::~KinematicService

(

)

Definition at line 110 of file wviz_kinematic_manager.cpp.

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Member Function Documentation

kinematics_msgs::GetPositionFK::Response wviz_kinematic_manager::KinematicService::getFKSol	(	std::vector< std::string >	target_links,
		sensor_msgs::JointState	joint_state
	)

computes PR2- arm Forward Kinematics using pr2_arm_kinematics pkg

Definition at line 203 of file wviz_kinematic_manager.cpp.

kinematics_msgs::GetPositionIK::Response wviz_kinematic_manager::KinematicService::getIKSol	(	std::string	target,
		std::string	target_header_link,
		geometry_msgs::Pose &	target_pose
	)

computes PR2 - Arm Inverse Kinematics using pr2_arm_kinematics pkg

Definition at line 164 of file wviz_kinematic_manager.cpp.

bool wviz_kinematic_manager::KinematicService::KinematicHandler	(	wviz_kinematic_manager::getPose::Request &	req,
		wviz_kinematic_manager::getPose::Response &	resp
	)

/get_pose service callback function. Receives the desired pose of target frame and computes Inverse Kinematic and Forward Kinematics,

Definition at line 114 of file wviz_kinematic_manager.cpp.

bool wviz_kinematic_manager::KinematicService::KinematicRelease	(	wviz_kinematic_manager::releasePose::Request &	req,
		wviz_kinematic_manager::releasePose::Response &	resp
	)

/release_pose service callback function. publishes the last reachable position.

Definition at line 243 of file wviz_kinematic_manager.cpp.

void wviz_kinematic_manager::KinematicService::moveArm

(

sensor_msgs::JointState

joint_state

)

controls the PR2 arm to desired position

Definition at line 281 of file wviz_kinematic_manager.cpp.

void wviz_kinematic_manager::KinematicService::spin

(

)

Definition at line 306 of file wviz_kinematic_manager.cpp.

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Member Data Documentation

ros::ServiceServer wviz_kinematic_manager::KinematicService::getpose_srv [private]

Definition at line 88 of file wviz_kinematic_manager.h.

ros::ServiceClient wviz_kinematic_manager::KinematicService::l_fk_client [private]

Definition at line 98 of file wviz_kinematic_manager.h.

ros::ServiceClient wviz_kinematic_manager::KinematicService::l_ik_client [private]

Definition at line 97 of file wviz_kinematic_manager.h.

ros::ServiceClient wviz_kinematic_manager::KinematicService::l_query_client [private]

Definition at line 96 of file wviz_kinematic_manager.h.

kinematics_msgs::KinematicSolverInfo wviz_kinematic_manager::KinematicService::l_solver_info [private]

Definition at line 99 of file wviz_kinematic_manager.h.

kinematics_msgs::GetPositionFK::Response wviz_kinematic_manager::KinematicService::lastFKSol [private]

Definition at line 105 of file wviz_kinematic_manager.h.

kinematics_msgs::GetPositionIK::Response wviz_kinematic_manager::KinematicService::lastIKSol [private]

Definition at line 104 of file wviz_kinematic_manager.h.

sensor_msgs::JointState wviz_kinematic_manager::KinematicService::lastSol [private]

Definition at line 106 of file wviz_kinematic_manager.h.

ros::NodeHandle wviz_kinematic_manager::KinematicService::node [private]

Definition at line 87 of file wviz_kinematic_manager.h.

ros::Publisher wviz_kinematic_manager::KinematicService::pub_left [private]

Definition at line 102 of file wviz_kinematic_manager.h.

ros::Publisher wviz_kinematic_manager::KinematicService::pub_right [private]

Definition at line 101 of file wviz_kinematic_manager.h.

bool wviz_kinematic_manager::KinematicService::publishReady [private]

Definition at line 107 of file wviz_kinematic_manager.h.

ros::ServiceClient wviz_kinematic_manager::KinematicService::r_fk_client [private]

Definition at line 93 of file wviz_kinematic_manager.h.

ros::ServiceClient wviz_kinematic_manager::KinematicService::r_ik_client [private]

Definition at line 92 of file wviz_kinematic_manager.h.

ros::ServiceClient wviz_kinematic_manager::KinematicService::r_query_client [private]

Definition at line 91 of file wviz_kinematic_manager.h.

kinematics_msgs::KinematicSolverInfo wviz_kinematic_manager::KinematicService::r_solver_info [private]

Definition at line 94 of file wviz_kinematic_manager.h.

ros::ServiceServer wviz_kinematic_manager::KinematicService::releasepose_srv [private]

Definition at line 89 of file wviz_kinematic_manager.h.

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

• wviz_kinematic_manager.h
• wviz_kinematic_manager.cpp