pr2_arm_kinematics.h
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34 
35 /* Author: Sachin Chitta */
36 
37 #ifndef PR2_ARM_IK_NODE_H
38 #define PR2_ARM_IK_NODE_H
39 
40 #include <ros/ros.h>
41 #include <tf/tf.h>
42 #include <tf/transform_listener.h>
43 
44 #include <angles/angles.h>
46 #include <tf_conversions/tf_kdl.h>
47 
48 #include <moveit_msgs/GetPositionFK.h>
49 #include <moveit_msgs/GetPositionIK.h>
50 #include <moveit_msgs/KinematicSolverInfo.h>
51 #include <moveit_msgs/MoveItErrorCodes.h>
52 
53 #include <kdl/chainfksolverpos_recursive.hpp>
54 
55 #include <boost/shared_ptr.hpp>
56 
57 namespace pr2_arm_kinematics
58 {
60  {
61  public:
62 
73  PR2ArmKinematics(bool create_transform_listener = true);
74 
75  virtual ~PR2ArmKinematics();
76 
81  bool isActive();
82 
88  virtual bool getPositionIK(moveit_msgs::GetPositionIK::Request &request,
89  moveit_msgs::GetPositionIK::Response &response);
90 
96  bool getPositionFK(moveit_msgs::GetPositionFK::Request &request,
97  moveit_msgs::GetPositionFK::Response &response);
98 
99  protected:
100 
101  // Helper function that assumes that everything is in the correct frame
102  bool getPositionIKHelper(moveit_msgs::GetPositionIK::Request &request,
103  moveit_msgs::GetPositionIK::Response &response);
104 
105  virtual bool transformPose(const std::string& des_frame,
106  const geometry_msgs::PoseStamped& pose_in,
107  geometry_msgs::PoseStamped& pose_out);
108 
109  bool active_;
117  std::string root_name_;
121  moveit_msgs::KinematicSolverInfo ik_solver_info_, fk_solver_info_;
122  };
123 }
124 
125 #endif
boost::shared_ptr< pr2_arm_kinematics::PR2ArmIKSolver > pr2_arm_ik_solver_
bool getPositionIKHelper(moveit_msgs::GetPositionIK::Request &request, moveit_msgs::GetPositionIK::Response &response)
Namespace for the PR2ArmKinematics.
boost::shared_ptr< KDL::ChainFkSolverPos_recursive > jnt_to_pose_solver_
PR2ArmKinematics(bool create_transform_listener=true)
bool getPositionFK(moveit_msgs::GetPositionFK::Request &request, moveit_msgs::GetPositionFK::Response &response)
This is the basic forward kinematics service that will return information about the kinematics node...
virtual bool getPositionIK(moveit_msgs::GetPositionIK::Request &request, moveit_msgs::GetPositionIK::Response &response)
This is the basic IK service method that will compute and return an IK solution.
moveit_msgs::KinematicSolverInfo fk_solver_info_
virtual bool transformPose(const std::string &des_frame, const geometry_msgs::PoseStamped &pose_in, geometry_msgs::PoseStamped &pose_out)
bool isActive()
Specifies if the node is active or not.
moveit_msgs::KinematicSolverInfo ik_solver_info_


pr2_arm_kinematics
Author(s): Sachin Chitta
autogenerated on Sun May 9 2021 02:19:39