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, geometry_msgs::PoseStamped &pose_msg_out, const std::string &root_frame, tf::TransformListener &tf)

bool	convertPoseToRootFrame (const geometry_msgs::PoseStamped &pose_msg, KDL::Frame &pose_kdl, 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 std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain)

bool	getKDLChain (const urdf::ModelInterface &model, 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::Isometry3f	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 (PR2ArmIKSolver)

	MOVEIT_CLASS_FORWARD (PR2ArmKinematicsPlugin)

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

◆ checkFKService()

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

Definition at line 331 of file pr2_arm_kinematics_utils.cpp.

◆ checkIKService()

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

Definition at line 349 of file pr2_arm_kinematics_utils.cpp.

◆ checkJointNames()

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

Definition at line 268 of file pr2_arm_kinematics_utils.cpp.

◆ checkLinkName()

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

Definition at line 304 of file pr2_arm_kinematics_utils.cpp.

◆ checkLinkNames()

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

Definition at line 291 of file pr2_arm_kinematics_utils.cpp.

◆ checkRobotState()

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

Definition at line 315 of file pr2_arm_kinematics_utils.cpp.

◆ convertPoseToRootFrame() [1/2]

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 385 of file pr2_arm_kinematics_utils.cpp.

◆ convertPoseToRootFrame() [2/2]

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 372 of file pr2_arm_kinematics_utils.cpp.

◆ getJointIndex()

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

Definition at line 428 of file pr2_arm_kinematics_utils.cpp.

◆ getKDLChain()

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 102 of file pr2_arm_kinematics_utils.cpp.

◆ getKDLSegmentIndex()

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

Definition at line 452 of file pr2_arm_kinematics_utils.cpp.

◆ getKDLTree()

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 119 of file pr2_arm_kinematics_utils.cpp.

◆ loadRobotModel()

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

Definition at line 75 of file pr2_arm_kinematics_utils.cpp.

◆ matrixInverse()

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

Definition at line 192 of file pr2_arm_kinematics_utils.cpp.

Variable Documentation

◆ FK_INFO_SERVICE

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

static

Definition at line 56 of file pr2_arm_kinematics.cpp.

◆ FK_SERVICE

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

static

Definition at line 54 of file pr2_arm_kinematics.cpp.

◆ IK_DEFAULT_TIMEOUT

const double pr2_arm_kinematics::IK_DEFAULT_TIMEOUT = 10.0

static

Definition at line 74 of file pr2_arm_kinematics_utils.cpp.

◆ IK_EPS

const double pr2_arm_kinematics::IK_EPS = 1e-5

static

Definition at line 75 of file pr2_arm_kinematics_constants.h.

◆ IK_INFO_SERVICE

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

static

Definition at line 55 of file pr2_arm_kinematics.cpp.

◆ IK_SERVICE

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

static

Definition at line 53 of file pr2_arm_kinematics.cpp.

◆ NO_IK_SOLUTION

const int pr2_arm_kinematics::NO_IK_SOLUTION = -1

static

Definition at line 85 of file pr2_arm_ik_solver.h.

◆ NUM_JOINTS_ARM7DOF

const int pr2_arm_kinematics::NUM_JOINTS_ARM7DOF = 7

static

Definition at line 74 of file pr2_arm_kinematics_constants.h.

◆ TIMED_OUT

const int pr2_arm_kinematics::TIMED_OUT = -2

static

Definition at line 86 of file pr2_arm_ik_solver.h.

Classes

Functions

Variables

Detailed Description

Function Documentation

◆ checkFKService()

◆ checkIKService()

◆ checkJointNames()

◆ checkLinkName()

◆ checkLinkNames()

◆ checkRobotState()

◆ convertPoseToRootFrame() [1/2]

◆ convertPoseToRootFrame() [2/2]

◆ getJointIndex()

◆ getKDLChain()

◆ getKDLSegmentIndex()

◆ getKDLTree()

◆ loadRobotModel()

◆ matrixInverse()

Variable Documentation

◆ FK_INFO_SERVICE

◆ FK_SERVICE

◆ IK_DEFAULT_TIMEOUT

◆ IK_EPS

◆ IK_INFO_SERVICE

◆ IK_SERVICE

◆ NO_IK_SOLUTION

◆ NUM_JOINTS_ARM7DOF

◆ TIMED_OUT