moveit2
The MoveIt Motion Planning Framework for ROS 2.
Classes | Namespaces | Functions
pr2_arm_ik.h File Reference
#include <urdf_model/model.h>
#include <urdf/model.h>
#include <Eigen/Geometry>
#include <Eigen/LU>
#include <kdl/chainiksolver.hpp>
#include <moveit_msgs/srv/get_position_fk.hpp>
#include <moveit_msgs/srv/get_position_ik.hpp>
#include <moveit_msgs/msg/kinematic_solver_info.hpp>
#include <rclcpp/rclcpp.hpp>
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Classes

class  pr2_arm_kinematics::PR2ArmIK
 

Namespaces

 pr2_arm_kinematics
 

Functions

double pr2_arm_kinematics::distance (const urdf::Pose &transform)
 
bool pr2_arm_kinematics::solveQuadratic (const double &a, const double &b, const double &c, double *x1, double *x2)
 
bool pr2_arm_kinematics::solveCosineEqn (const double &a, const double &b, const double &c, double &soln1, double &soln2)