Public Member Functions
	KNIKinematics ()
virtual	~KNIKinematics ()
Private Member Functions
bool	get_kinematic_solver_info (kinematics_msgs::GetKinematicSolverInfo::Request &req, kinematics_msgs::GetKinematicSolverInfo::Response &res)
bool	get_position_fk (kinematics_msgs::GetPositionFK::Request &req, kinematics_msgs::GetPositionFK::Response &res)
bool	get_position_ik (kinematics_msgs::GetPositionIK::Request &req, kinematics_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
Private Attributes
KNIConverter *	converter_
ros::ServiceServer	get_fk_server_
ros::ServiceServer	get_ik_server_
ros::ServiceServer	get_kinematic_solver_info_server_
CikBase	ikBase_
std::vector < arm_navigation_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 113 of file KNIKinematics.cpp.

bool katana::KNIKinematics::get_kinematic_solver_info	(	kinematics_msgs::GetKinematicSolverInfo::Request &	req,
		kinematics_msgs::GetKinematicSolverInfo::Response &	res
	)		`[private]`

Definition at line 118 of file KNIKinematics.cpp.

bool katana::KNIKinematics::get_position_fk	(	kinematics_msgs::GetPositionFK::Request &	req,
		kinematics_msgs::GetPositionFK::Response &	res
	)		`[private]`

Definition at line 127 of file KNIKinematics.cpp.

bool katana::KNIKinematics::get_position_ik	(	kinematics_msgs::GetPositionIK::Request &	req,
		kinematics_msgs::GetPositionIK::Response &	res
	)		`[private]`