KNIKinematics.h
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00001 /*
00002  * UOS-ROS packages - Robot Operating System code by the University of Osnabrück
00003  * Copyright (C) 2011  University of Osnabrück
00004  *
00005  * This program is free software; you can redistribute it and/or
00006  * modify it under the terms of the GNU General Public License
00007  * as published by the Free Software Foundation; either version 2
00008  * of the License, or (at your option) any later version.
00009  *
00010  * This program is distributed in the hope that it will be useful,
00011  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00012  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00013  * GNU General Public License for more details.
00014  *
00015  * You should have received a copy of the GNU General Public License
00016  * along with this program; if not, write to the Free Software
00017  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
00018  *
00019  * KNIKinematics.h
00020  *
00021  *  Created on: 20.01.2011
00022  *      Author: Martin Günther
00023  */
00024 
00025 #ifndef KNIKINEMATICS_H_
00026 #define KNIKINEMATICS_H_
00027 
00028 #include <ros/ros.h>
00029 #include <ros/package.h>
00030 #include <tf/transform_listener.h>
00031 #include <geometry_msgs/PoseStamped.h>
00032 #include <kinematics_msgs/GetKinematicSolverInfo.h>
00033 #include <kinematics_msgs/GetPositionFK.h>
00034 #include <kinematics_msgs/GetPositionIK.h>
00035 #include <urdf/model.h>
00036 
00037 #include <KNI_InvKin/ikBase.h>
00038 #include <KNI/kmlFactories.h>
00039 #include <KNI_InvKin/KatanaKinematics.h>
00040 
00041 #include <katana/KNIConverter.h>
00042 #include <katana/EulerTransformationMatrices.hh>
00043 
00044 #include "tf/LinearMath/Transform.h"
00045 
00046 namespace katana
00047 {
00048 
00049 class KNIKinematics
00050 {
00051 public:
00052   KNIKinematics();
00053   virtual ~KNIKinematics();
00054 
00055 private:
00056   ros::NodeHandle nh_;
00057   ros::ServiceServer get_kinematic_solver_info_server_;
00058   ros::ServiceServer get_fk_server_;
00059   ros::ServiceServer get_ik_server_;
00060 
00061   std::vector<std::string> joint_names_;
00062   std::vector<arm_navigation_msgs::JointLimits> joint_limits_;
00063 
00064   CikBase ikBase_;
00065   KNIConverter* converter_;
00066   tf::TransformListener tf_listener_;
00067 
00068   bool get_kinematic_solver_info(kinematics_msgs::GetKinematicSolverInfo::Request &req,
00069                                  kinematics_msgs::GetKinematicSolverInfo::Response &res);
00070 
00071   bool get_position_fk(kinematics_msgs::GetPositionFK::Request &req, kinematics_msgs::GetPositionFK::Response &res);
00072   bool get_position_ik(kinematics_msgs::GetPositionIK::Request &req, kinematics_msgs::GetPositionIK::Response &res);
00073 
00074   std::vector<double> getCoordinates();
00075   std::vector<double> getCoordinates(std::vector<double> jointAngles);
00076   std::vector<int> makeJointsLookup(std::vector<std::string> &joint_names);
00077 
00078 };
00079 
00080 }
00081 
00082 #endif /* KNIKINEMATICS_H_ */
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katana
Author(s): Martin Günther
autogenerated on Tue May 28 2013 14:54:05