pr2_arm_kinematics::PR2ArmIKSolver Class Reference

#include <pr2_arm_kinematics_plugin.h>

Inheritance diagram for pr2_arm_kinematics::PR2ArmIKSolver:

List of all members.

Public Member Functions
int	CartToJnt (const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out)
int	CartToJntSearch (const KDL::JntArray &q_in, const KDL::Frame &p_in, KDL::JntArray &q_out, const double &timeout)
void	getSolverInfo (moveit_msgs::KinematicSolverInfo &response)
	PR2ArmIKSolver (const urdf::ModelInterface &robot_model, const std::string &root_frame_name, const std::string &tip_frame_name, const double &search_discretization_angle, const int &free_angle)
	~PR2ArmIKSolver ()
Public Attributes
bool	active_
	Indicates whether the solver has been successfully initialized.
PR2ArmIK	pr2_arm_ik_
	The PR2 inverse kinematics solver.
Private Member Functions
bool	getCount (int &count, const int &max_count, const int &min_count)
Private Attributes
int	free_angle_
std::string	root_frame_name_
double	search_discretization_angle_

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Detailed Description

Definition at line 68 of file pr2_arm_kinematics_plugin.h.

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Constructor & Destructor Documentation

pr2_arm_kinematics::PR2ArmIKSolver::PR2ArmIKSolver	(	const urdf::ModelInterface &	robot_model,
		const std::string &	root_frame_name,
		const std::string &	tip_frame_name,
		const double &	search_discretization_angle,
		const int &	free_angle
	)

Definition at line 89 of file pr2_arm_kinematics_plugin.cpp.

pr2_arm_kinematics::PR2ArmIKSolver::~PR2ArmIKSolver

(

)

[inline]

Definition at line 87 of file pr2_arm_kinematics_plugin.h.

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Member Function Documentation

int pr2_arm_kinematics::PR2ArmIKSolver::CartToJnt	(	const KDL::JntArray &	q_init,
		const KDL::Frame &	p_in,
		KDL::JntArray &	q_out
	)		[virtual]

Implements KDL::ChainIkSolverPos.

Definition at line 104 of file pr2_arm_kinematics_plugin.cpp.

int pr2_arm_kinematics::PR2ArmIKSolver::CartToJntSearch	(	const KDL::JntArray &	q_in,
		const KDL::Frame &	p_in,
		KDL::JntArray &	q_out,
		const double &	timeout
	)

Definition at line 158 of file pr2_arm_kinematics_plugin.cpp.

bool pr2_arm_kinematics::PR2ArmIKSolver::getCount	(	int &	count,
		const int &	max_count,
		const int &	min_count
	)		[private]

Definition at line 51 of file pr2_arm_kinematics_plugin.cpp.

void pr2_arm_kinematics::PR2ArmIKSolver::getSolverInfo

(

moveit_msgs::KinematicSolverInfo &

response

)

[inline]

Definition at line 108 of file pr2_arm_kinematics_plugin.h.

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Member Data Documentation

bool pr2_arm_kinematics::PR2ArmIKSolver::active_

Indicates whether the solver has been successfully initialized.

Definition at line 97 of file pr2_arm_kinematics_plugin.h.

int pr2_arm_kinematics::PR2ArmIKSolver::free_angle_ [private]

Definition at line 119 of file pr2_arm_kinematics_plugin.h.

PR2ArmIK pr2_arm_kinematics::PR2ArmIKSolver::pr2_arm_ik_

The PR2 inverse kinematics solver.

Definition at line 87 of file pr2_arm_kinematics_plugin.h.

std::string pr2_arm_kinematics::PR2ArmIKSolver::root_frame_name_ [private]

Definition at line 121 of file pr2_arm_kinematics_plugin.h.

double pr2_arm_kinematics::PR2ArmIKSolver::search_discretization_angle_ [private]

Definition at line 117 of file pr2_arm_kinematics_plugin.h.

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

• pr2_arm_kinematics_plugin.h
• pr2_arm_kinematics_plugin.cpp