#include <cstring>
#include <cmath>
#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <tf_conversions/tf_kdl.h>
#include <tf/transform_datatypes.h>
#include <kdl_parser/kdl_parser.hpp>
#include <kdl/jntarray.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>
#include <moveit_msgs/GetPositionFK.h>
#include <moveit_msgs/GetPositionIK.h>
#include <moveit_msgs/GetKinematicSolverInfo.h>
#include <moveit_msgs/KinematicSolverInfo.h>
#include <urdf/model.h>
#include <string>
Go to the source code of this file.
Classes | |
class | Kinematics |
Defines | |
#define | IK_EPS 1e-5 |
Functions | |
int | main (int argc, char **argv) |
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 std::string | IK_INFO_SERVICE = "get_ik_solver_info" |
static const std::string | IK_SERVICE = "get_ik" |
#define IK_EPS 1e-5 |
Definition at line 29 of file sr_kinematics.cpp.
int main | ( | int | argc, |
char ** | argv | ||
) |
Definition at line 667 of file sr_kinematics.cpp.
bool solveQuadratic | ( | const double & | a, |
const double & | b, | ||
const double & | c, | ||
double * | x1, | ||
double * | x2 | ||
) |
Definition at line 32 of file sr_kinematics.cpp.
const std::string FK_INFO_SERVICE = "get_fk_solver_info" [static] |
Definition at line 27 of file sr_kinematics.cpp.
const std::string FK_SERVICE = "get_fk" [static] |
Definition at line 25 of file sr_kinematics.cpp.
const std::string IK_INFO_SERVICE = "get_ik_solver_info" [static] |
Definition at line 26 of file sr_kinematics.cpp.
const std::string IK_SERVICE = "get_ik" [static] |
Definition at line 24 of file sr_kinematics.cpp.