Classes
class	PR2ArmIK
class	PR2ArmIKSolver
class	PR2ArmKinematics
class	PR2ArmKinematicsPlugin
Functions
bool	checkConstraintAwareIKService (kinematics_msgs::GetConstraintAwarePositionIK::Request &request, kinematics_msgs::GetConstraintAwarePositionIK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool	checkFKService (kinematics_msgs::GetPositionFK::Request &request, kinematics_msgs::GetPositionFK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool	checkIKService (kinematics_msgs::GetPositionIK::Request &request, kinematics_msgs::GetPositionIK::Response &response, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool	checkJointNames (const std::vector< std::string > &joint_names, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool	checkLinkName (const std::string &link_name, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool	checkLinkNames (const std::vector< std::string > &link_names, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool	checkRobotState (arm_navigation_msgs::RobotState &robot_state, const kinematics_msgs::KinematicSolverInfo &chain_info)
double	computeEuclideanDistance (const std::vector< double > &array_1, const KDL::JntArray &array_2)
bool	convertPoseToRootFrame (const geometry_msgs::PoseStamped &pose_msg, KDL::Frame &pose_kdl, const std::string &root_frame, tf::TransformListener &tf)
bool	convertPoseToRootFrame (const geometry_msgs::PoseStamped &pose_msg, geometry_msgs::PoseStamped &pose_msg_out, const std::string &root_frame, tf::TransformListener &tf)
double	distance (const urdf::Pose &transform)
int	getJointIndex (const std::string &name, const kinematics_msgs::KinematicSolverInfo &chain_info)
bool	getKDLChain (const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain)
void	getKDLChainInfo (const KDL::Chain &chain, kinematics_msgs::KinematicSolverInfo &chain_info)
int	getKDLSegmentIndex (const KDL::Chain &chain, const std::string &name)
bool	getKDLTree (const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Tree &kdl_chain)
Eigen::Matrix4f	KDLToEigenMatrix (const KDL::Frame &p)
bool	loadRobotModel (ros::NodeHandle node_handle, urdf::Model &robot_model, std::string &xml_string)
Eigen::Matrix4f	matrixInverse (const Eigen::Matrix4f &g)
bool	solveCosineEqn (const double &a, const double &b, const double &c, double &soln1, double &soln2)
bool	solveQuadratic (const double &a, const double &b, const double &c, double x1, double x2)
Variables
static const std::string	FK_INFO_SERVICE = "get_fk_solver_info"
static const std::string	FK_SERVICE = "get_fk"
static const double	IK_DEFAULT_TIMEOUT = 10.0
static const double	IK_EPS = 1e-5
static const std::string	IK_INFO_SERVICE = "get_ik_solver_info"
static const std::string	IK_SERVICE = "get_ik"
static const int	NO_IK_SOLUTION = -1
static const int	NUM_JOINTS_ARM7DOF = 7
static const int	TIMED_OUT = -2

Function Documentation

bool pr2_arm_kinematics::checkConstraintAwareIKService	(	kinematics_msgs::GetConstraintAwarePositionIK::Request &	request,
		kinematics_msgs::GetConstraintAwarePositionIK::Response &	response,
		const kinematics_msgs::KinematicSolverInfo &	chain_info
	)

bool pr2_arm_kinematics::checkFKService	(	kinematics_msgs::GetPositionFK::Request &	request,
		kinematics_msgs::GetPositionFK::Response &	response,
		const kinematics_msgs::KinematicSolverInfo &	chain_info
	)

bool pr2_arm_kinematics::checkIKService	(	kinematics_msgs::GetPositionIK::Request &	request,
		kinematics_msgs::GetPositionIK::Response &	response,
		const kinematics_msgs::KinematicSolverInfo &	chain_info
	)

bool pr2_arm_kinematics::checkJointNames	(	const std::vector< std::string > &	joint_names,
		const kinematics_msgs::KinematicSolverInfo &	chain_info
	)

bool pr2_arm_kinematics::checkLinkName	(	const std::string &	link_name,
		const kinematics_msgs::KinematicSolverInfo &	chain_info
	)

bool pr2_arm_kinematics::checkLinkNames	(	const std::vector< std::string > &	link_names,
		const kinematics_msgs::KinematicSolverInfo &	chain_info
	)

bool pr2_arm_kinematics::checkRobotState	(	arm_navigation_msgs::RobotState &	robot_state,
		const kinematics_msgs::KinematicSolverInfo &	chain_info
	)

double pr2_arm_kinematics::computeEuclideanDistance	(	const std::vector< double > &	array_1,
		const KDL::JntArray &	array_2
	)

Definition at line 109 of file pr2_arm_kinematics_utils.cpp.

bool pr2_arm_kinematics::convertPoseToRootFrame	(	const geometry_msgs::PoseStamped &	pose_msg,
		KDL::Frame &	pose_kdl,
		const std::string &	root_frame,
		tf::TransformListener &	tf
	)

Definition at line 359 of file pr2_arm_kinematics_utils.cpp.

bool pr2_arm_kinematics::convertPoseToRootFrame	(	const geometry_msgs::PoseStamped &	pose_msg,
		geometry_msgs::PoseStamped &	pose_msg_out,
		const std::string &	root_frame,
		tf::TransformListener &	tf
	)

Definition at line 372 of file pr2_arm_kinematics_utils.cpp.

double pr2_arm_kinematics::distance ( const urdf::Pose & transform )

Definition at line 120 of file pr2_arm_kinematics_utils.cpp.

int pr2_arm_kinematics::getJointIndex	(	const std::string &	name,
		const kinematics_msgs::KinematicSolverInfo &	chain_info
	)

bool pr2_arm_kinematics::getKDLChain	(	const std::string &	xml_string,
		const std::string &	root_name,
		const std::string &	tip_name,
		KDL::Chain &	kdl_chain
	)

Definition at line 66 of file pr2_arm_kinematics_utils.cpp.

void pr2_arm_kinematics::getKDLChainInfo	(	const KDL::Chain &	chain,
		kinematics_msgs::KinematicSolverInfo &	chain_info
	)

int pr2_arm_kinematics::getKDLSegmentIndex	(	const KDL::Chain &	chain,
		const std::string &	name
	)

Definition at line 439 of file pr2_arm_kinematics_utils.cpp.

bool pr2_arm_kinematics::getKDLTree	(	const std::string &	xml_string,
		const std::string &	root_name,
		const std::string &	tip_name,
		KDL::Tree &	kdl_chain
	)