pr2_arm_kinematics Namespace Reference

Classes
class	PR2ArmIK
class	PR2ArmIKSolver
class	PR2ArmKinematicsPlugin

Functions
double	distance (const urdf::Pose &transform)
bool	solveQuadratic (double a, double b, double c, double *x1, double *x2)
bool	solveCosineEqn (double a, double b, double c, double &soln1, double &soln2)
bool	getKDLChain (const urdf::ModelInterface &model, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain)
Eigen::Isometry3f	kdlToEigenMatrix (const KDL::Frame &p)
double	computeEuclideanDistance (const std::vector< double > &array_1, const KDL::JntArray &array_2)
void	getKDLChainInfo (const KDL::Chain &chain, moveit_msgs::msg::KinematicSolverInfo &chain_info)
	MOVEIT_CLASS_FORWARD (PR2ArmIKSolver)
	MOVEIT_CLASS_FORWARD (PR2ArmKinematicsPlugin)

Function Documentation

computeEuclideanDistance()

double pr2_arm_kinematics::computeEuclideanDistance	(	const std::vector< double > &	array_1,
		const KDL::JntArray &	array_2
	)

Definition at line 245 of file pr2_arm_kinematics_plugin.cpp.

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distance()

double pr2_arm_kinematics::distance ( const urdf::Pose &  transform )

inline

Definition at line 59 of file pr2_arm_ik.h.

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getKDLChain()

bool pr2_arm_kinematics::getKDLChain	(	const urdf::ModelInterface &	model,
		const std::string &	root_name,
		const std::string &	tip_name,
		KDL::Chain &	kdl_chain
	)

Definition at line 212 of file pr2_arm_kinematics_plugin.cpp.

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getKDLChainInfo()

void pr2_arm_kinematics::getKDLChainInfo	(	const KDL::Chain &	chain,
		moveit_msgs::msg::KinematicSolverInfo &	chain_info
	)

Definition at line 255 of file pr2_arm_kinematics_plugin.cpp.

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kdlToEigenMatrix()

Eigen::Isometry3f pr2_arm_kinematics::kdlToEigenMatrix

(

const KDL::Frame &

p

)

Definition at line 231 of file pr2_arm_kinematics_plugin.cpp.

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MOVEIT_CLASS_FORWARD() [1/2]

pr2_arm_kinematics::MOVEIT_CLASS_FORWARD

(

PR2ArmIKSolver

)

MOVEIT_CLASS_FORWARD() [2/2]

pr2_arm_kinematics::MOVEIT_CLASS_FORWARD

(

PR2ArmKinematicsPlugin

)

solveCosineEqn()

bool pr2_arm_kinematics::solveCosineEqn ( double  a, double  b, double  c, double &  soln1, double &  soln2  )

inline

Definition at line 95 of file pr2_arm_ik.h.

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solveQuadratic()

bool pr2_arm_kinematics::solveQuadratic ( double  a, double  b, double  c, double *  x1, double *  x2  )

inline

Definition at line 65 of file pr2_arm_ik.h.

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