Classes | Functions | Variables
pr2_arm_kinematics Namespace Reference

Namespace for the PR2ArmKinematics. More...

Classes

class  PR2ArmIK
 
class  PR2ArmIKSolver
 
class  PR2ArmKinematics
 
class  PR2ArmKinematicsPlugin
 

Functions

bool checkFKService (moveit_msgs::GetPositionFK::Request &request, moveit_msgs::GetPositionFK::Response &response, const moveit_msgs::KinematicSolverInfo &chain_info)
 
bool checkIKService (moveit_msgs::GetPositionIK::Request &request, moveit_msgs::GetPositionIK::Response &response, const moveit_msgs::KinematicSolverInfo &chain_info)
 
bool checkJointNames (const std::vector< std::string > &joint_names, const moveit_msgs::KinematicSolverInfo &chain_info)
 
bool checkLinkName (const std::string &link_name, const moveit_msgs::KinematicSolverInfo &chain_info)
 
bool checkLinkNames (const std::vector< std::string > &link_names, const moveit_msgs::KinematicSolverInfo &chain_info)
 
bool checkRobotState (moveit_msgs::RobotState &robot_state, const moveit_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 moveit_msgs::KinematicSolverInfo &chain_info)
 
bool getKDLChain (const urdf::ModelInterface &model, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain)
 
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, moveit_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::Affine3f 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)
 
 MOVEIT_CLASS_FORWARD (PR2ArmKinematicsPlugin)
 
 MOVEIT_CLASS_FORWARD (PR2ArmIKSolver)
 
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
 
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
 
static const int NO_IK_SOLUTION = -1
 
static const int NUM_JOINTS_ARM7DOF
 
static const int NUM_JOINTS_ARM7DOF = 7
 
static const int TIMED_OUT
 
static const int TIMED_OUT = -2
 

Detailed Description

Namespace for the PR2ArmKinematics.

Function Documentation

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

Definition at line 299 of file pr2_arm_kinematics_utils.cpp.

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

Definition at line 317 of file pr2_arm_kinematics_utils.cpp.

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

Definition at line 236 of file pr2_arm_kinematics_utils.cpp.

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

Definition at line 272 of file pr2_arm_kinematics_utils.cpp.

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

Definition at line 259 of file pr2_arm_kinematics_utils.cpp.

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

Definition at line 283 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 340 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 353 of file pr2_arm_kinematics_utils.cpp.

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

Definition at line 396 of file pr2_arm_kinematics_utils.cpp.

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 70 of file pr2_arm_kinematics_utils.cpp.

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

Definition at line 420 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 
)

Definition at line 87 of file pr2_arm_kinematics_utils.cpp.

bool pr2_arm_kinematics::loadRobotModel ( ros::NodeHandle  node_handle,
urdf::Model robot_model,
std::string &  xml_string 
)

Definition at line 43 of file pr2_arm_kinematics_utils.cpp.

Eigen::Matrix4f pr2_arm_kinematics::matrixInverse ( const Eigen::Matrix4f &  g)

Definition at line 160 of file pr2_arm_kinematics_utils.cpp.

Variable Documentation

const std::string pr2_arm_kinematics::FK_INFO_SERVICE = "get_fk_solver_info"
static

Definition at line 56 of file pr2_arm_kinematics.cpp.

const std::string pr2_arm_kinematics::FK_SERVICE = "get_fk"
static

Definition at line 54 of file pr2_arm_kinematics.cpp.

const double pr2_arm_kinematics::IK_DEFAULT_TIMEOUT = 10.0
static

Definition at line 42 of file pr2_arm_kinematics_utils.cpp.

const double pr2_arm_kinematics::IK_EPS = 1e-5
static

Definition at line 43 of file pr2_arm_kinematics_constants.h.

const std::string pr2_arm_kinematics::IK_INFO_SERVICE = "get_ik_solver_info"
static

Definition at line 55 of file pr2_arm_kinematics.cpp.

const std::string pr2_arm_kinematics::IK_SERVICE = "get_ik"
static

Definition at line 53 of file pr2_arm_kinematics.cpp.

const int pr2_arm_kinematics::NO_IK_SOLUTION = -1
static

Definition at line 53 of file pr2_arm_ik_solver.h.

const int pr2_arm_kinematics::NUM_JOINTS_ARM7DOF = 7
static

Definition at line 42 of file pr2_arm_kinematics_constants.h.

const int pr2_arm_kinematics::TIMED_OUT = -2
static

Definition at line 54 of file pr2_arm_ik_solver.h.



pr2_arm_kinematics
Author(s): Sachin Chitta
autogenerated on Sun May 9 2021 02:19:40