__init__.py
/tmp/ws/src/pr2_kinematics/pr2_arm_kinematics/src/pr2_arm_ik/
____init_____8py
pr2_arm_ik
main.cpp
/tmp/ws/src/pr2_kinematics/pr2_arm_kinematics/src/
main_8cpp
pr2_arm_kinematics/pr2_arm_kinematics.h
int
main
main_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
pr2_arm_ik.cpp
/tmp/ws/src/pr2_kinematics/pr2_arm_kinematics/src/
pr2__arm__ik_8cpp
pr2_arm_kinematics/pr2_arm_ik.h
pr2_arm_ik.h
/tmp/ws/src/pr2_kinematics/pr2_arm_kinematics/include/pr2_arm_kinematics/
pr2__arm__ik_8h
pr2_arm_kinematics/pr2_arm_kinematics_utils.h
pr2_arm_kinematics/pr2_arm_kinematics_constants.h
pr2_arm_kinematics
pr2_arm_ik_solver.cpp
/tmp/ws/src/pr2_kinematics/pr2_arm_kinematics/src/
pr2__arm__ik__solver_8cpp
pr2_arm_kinematics/pr2_arm_ik_solver.h
pr2_arm_ik_solver.h
/tmp/ws/src/pr2_kinematics/pr2_arm_kinematics/include/pr2_arm_kinematics/
pr2__arm__ik__solver_8h
pr2_arm_kinematics/pr2_arm_ik.h
pr2_arm_kinematics/pr2_arm_kinematics_utils.h
pr2_arm_kinematics
static const int
NO_IK_SOLUTION
namespacepr2__arm__kinematics.html
ae8b821620ec119e950524b084b97545d
static const int
TIMED_OUT
namespacepr2__arm__kinematics.html
a244bc5bbfbb9d1a10247215245eb3f36
pr2_arm_kinematics.cpp
/tmp/ws/src/pr2_kinematics/pr2_arm_kinematics/src/
pr2__arm__kinematics_8cpp
pr2_arm_kinematics/pr2_arm_kinematics.h
pr2_arm_kinematics
static const std::string
FK_INFO_SERVICE
namespacepr2__arm__kinematics.html
af4140c4bfca8d604d2a4b59722e9fd4e
static const std::string
FK_SERVICE
namespacepr2__arm__kinematics.html
adc80cfd50d6cccd2561f9c0d4d2403c0
static const std::string
IK_INFO_SERVICE
namespacepr2__arm__kinematics.html
a22a91ca286cfa69ea7afc03e117b525d
static const std::string
IK_SERVICE
namespacepr2__arm__kinematics.html
afb002be164be9d21208a328a9eac053a
pr2_arm_kinematics.h
/tmp/ws/src/pr2_kinematics/pr2_arm_kinematics/include/pr2_arm_kinematics/
pr2__arm__kinematics_8h
pr2_arm_kinematics/pr2_arm_ik_solver.h
pr2_arm_kinematics::PR2ArmKinematics
pr2_arm_kinematics
pr2_arm_kinematics_constants.h
/tmp/ws/src/pr2_kinematics/pr2_arm_kinematics/include/pr2_arm_kinematics/
pr2__arm__kinematics__constants_8h
pr2_arm_kinematics
static const double
IK_EPS
namespacepr2__arm__kinematics.html
ac6a291b8c671719448644572f9b7aa35
static const int
NUM_JOINTS_ARM7DOF
namespacepr2__arm__kinematics.html
a816d8c9a19c2e2967b4243a2585bba79
pr2_arm_kinematics_plugin.cpp
/tmp/ws/src/pr2_kinematics/pr2_arm_kinematics/src/
pr2__arm__kinematics__plugin_8cpp
pr2_arm_kinematics/pr2_arm_kinematics_plugin.h
pr2_arm_kinematics
PLUGINLIB_EXPORT_CLASS
pr2__arm__kinematics__plugin_8cpp.html
aaa5b5a585bbd20c9ca441d13bad5755c
(pr2_arm_kinematics::PR2ArmKinematicsPlugin, kinematics::KinematicsBase)
pr2_arm_kinematics_plugin.h
/tmp/ws/src/pr2_kinematics/pr2_arm_kinematics/include/pr2_arm_kinematics/
pr2__arm__kinematics__plugin_8h
pr2_arm_kinematics/pr2_arm_ik_solver.h
pr2_arm_kinematics
pr2_arm_kinematics_utils.cpp
/tmp/ws/src/pr2_kinematics/pr2_arm_kinematics/src/
pr2__arm__kinematics__utils_8cpp
pr2_arm_kinematics/pr2_arm_kinematics_utils.h
pr2_arm_kinematics/pr2_arm_kinematics_constants.h
pr2_arm_kinematics
bool
checkFKService
namespacepr2__arm__kinematics.html
a41db6ddc893ca7c26440c7e61d8a2d7d
(moveit_msgs::GetPositionFK::Request &request, moveit_msgs::GetPositionFK::Response &response, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkIKService
namespacepr2__arm__kinematics.html
a987e06a365ff8c222568f599ee8fdbdc
(moveit_msgs::GetPositionIK::Request &request, moveit_msgs::GetPositionIK::Response &response, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkJointNames
namespacepr2__arm__kinematics.html
a91abf48dd0b300a1df5fd305b43dcff1
(const std::vector< std::string > &joint_names, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkLinkName
namespacepr2__arm__kinematics.html
a238c65a13429a0ca337c1caa13a15a8c
(const std::string &link_name, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkLinkNames
namespacepr2__arm__kinematics.html
a5d6147fe4ae603284e1d46b6606b3140
(const std::vector< std::string > &link_names, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkRobotState
namespacepr2__arm__kinematics.html
affacf79416a6eb8ecdfe73a6233ee0af
(moveit_msgs::RobotState &robot_state, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
convertPoseToRootFrame
namespacepr2__arm__kinematics.html
a78a02b4623966b0cc3a4b46b188348f7
(const geometry_msgs::PoseStamped &pose_msg, KDL::Frame &pose_kdl, const std::string &root_frame, tf::TransformListener &tf)
bool
convertPoseToRootFrame
namespacepr2__arm__kinematics.html
a699d7d1e89d7758ce3dc6b990cbabea7
(const geometry_msgs::PoseStamped &pose_msg, geometry_msgs::PoseStamped &pose_msg_out, const std::string &root_frame, tf::TransformListener &tf)
int
getJointIndex
namespacepr2__arm__kinematics.html
ae9cbf137821fb7fdb988c26e56310af3
(const std::string &name, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
getKDLChain
namespacepr2__arm__kinematics.html
af0523bf32fd5b8325a12c12497b62a04
(const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain)
int
getKDLSegmentIndex
namespacepr2__arm__kinematics.html
a3397abd63c2b5232fb14a26c7d7a3853
(const KDL::Chain &chain, const std::string &name)
bool
getKDLTree
namespacepr2__arm__kinematics.html
ae5237df4d00a7dbdb07a080ba0565ea4
(const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Tree &kdl_chain)
bool
loadRobotModel
namespacepr2__arm__kinematics.html
ac9aa53d98899869c54062c7948c6e18e
(ros::NodeHandle node_handle, urdf::Model &robot_model, std::string &xml_string)
Eigen::Matrix4f
matrixInverse
namespacepr2__arm__kinematics.html
a9020143d0e191764fe66cbbf006ad359
(const Eigen::Matrix4f &g)
static const double
IK_DEFAULT_TIMEOUT
namespacepr2__arm__kinematics.html
afcd619c8a6533aafd35527d366f5d1eb
pr2_arm_kinematics_utils.h
/tmp/ws/src/pr2_kinematics/pr2_arm_kinematics/include/pr2_arm_kinematics/
pr2__arm__kinematics__utils_8h
pr2_arm_kinematics
bool
checkFKService
namespacepr2__arm__kinematics.html
a41db6ddc893ca7c26440c7e61d8a2d7d
(moveit_msgs::GetPositionFK::Request &request, moveit_msgs::GetPositionFK::Response &response, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkIKService
namespacepr2__arm__kinematics.html
a987e06a365ff8c222568f599ee8fdbdc
(moveit_msgs::GetPositionIK::Request &request, moveit_msgs::GetPositionIK::Response &response, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkJointNames
namespacepr2__arm__kinematics.html
a91abf48dd0b300a1df5fd305b43dcff1
(const std::vector< std::string > &joint_names, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkLinkName
namespacepr2__arm__kinematics.html
a238c65a13429a0ca337c1caa13a15a8c
(const std::string &link_name, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkLinkNames
namespacepr2__arm__kinematics.html
a5d6147fe4ae603284e1d46b6606b3140
(const std::vector< std::string > &link_names, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkRobotState
namespacepr2__arm__kinematics.html
affacf79416a6eb8ecdfe73a6233ee0af
(moveit_msgs::RobotState &robot_state, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
convertPoseToRootFrame
namespacepr2__arm__kinematics.html
a78a02b4623966b0cc3a4b46b188348f7
(const geometry_msgs::PoseStamped &pose_msg, KDL::Frame &pose_kdl, const std::string &root_frame, tf::TransformListener &tf)
bool
convertPoseToRootFrame
namespacepr2__arm__kinematics.html
a699d7d1e89d7758ce3dc6b990cbabea7
(const geometry_msgs::PoseStamped &pose_msg, geometry_msgs::PoseStamped &pose_msg_out, const std::string &root_frame, tf::TransformListener &tf)
int
getJointIndex
namespacepr2__arm__kinematics.html
ae9cbf137821fb7fdb988c26e56310af3
(const std::string &name, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
getKDLChain
namespacepr2__arm__kinematics.html
af0523bf32fd5b8325a12c12497b62a04
(const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain)
int
getKDLSegmentIndex
namespacepr2__arm__kinematics.html
a3397abd63c2b5232fb14a26c7d7a3853
(const KDL::Chain &chain, const std::string &name)
bool
getKDLTree
namespacepr2__arm__kinematics.html
ae5237df4d00a7dbdb07a080ba0565ea4
(const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Tree &kdl_chain)
bool
loadRobotModel
namespacepr2__arm__kinematics.html
ac9aa53d98899869c54062c7948c6e18e
(ros::NodeHandle node_handle, urdf::Model &robot_model, std::string &xml_string)
Eigen::Matrix4f
matrixInverse
namespacepr2__arm__kinematics.html
a9020143d0e191764fe66cbbf006ad359
(const Eigen::Matrix4f &g)
test_ik_with_cost.cpp
/tmp/ws/src/pr2_kinematics/pr2_arm_kinematics/test/
test__ik__with__cost_8cpp
#define
IK_NEAR
test__ik__with__cost_8cpp.html
a5f62aaa1dd63cf3367df0836b46b1b5c
#define
IK_NEAR_TRANSLATE
test__ik__with__cost_8cpp.html
ae3a06c23d1d34a7a1d6a24aea7f88a61
double
gen_rand
test__ik__with__cost_8cpp.html
a02aaa6d62c5197778030630d281f5fff
(double min, double max)
int
main
test__ik__with__cost_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
bool
NOT_NEAR
test__ik__with__cost_8cpp.html
a111f8d9f66230da205f0c59142d96de7
(const double &v1, const double &v2, const double &NEAR)
void
test
test__ik__with__cost_8cpp.html
ae1a3968e7947464bee7714f6d43b7002
()
static const std::string
ARM_FK_NAME
test__ik__with__cost_8cpp.html
a756856004748f2a494256073bf59fc31
static const std::string
ARM_IK_NAME
test__ik__with__cost_8cpp.html
a182474a931033f7c610b270ec6741372
static const std::string
ARM_QUERY_NAME
test__ik__with__cost_8cpp.html
a6d6f337bf66827a2e551aeba5b4c72ea
static const int
NUM_TESTS
test__ik__with__cost_8cpp.html
a51ceacd2eee1ffa83fe1004e33a6a96f
pr2_arm_kinematics::PR2ArmKinematics
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
bool
getPositionFK
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
a82e7560b936e4fd49595cb3dd5898640
(moveit_msgs::GetPositionFK::Request &request, moveit_msgs::GetPositionFK::Response &response)
virtual bool
getPositionIK
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
a58d79c4c1cabbc284bcad12e644b0f24
(moveit_msgs::GetPositionIK::Request &request, moveit_msgs::GetPositionIK::Response &response)
bool
isActive
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
adf4f0686e5a71c80bc079cb64876fd27
()
PR2ArmKinematics
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
aae921f6f2c2a9b070f1a06071a9d8323
(bool create_transform_listener=true)
virtual
~PR2ArmKinematics
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
a71f4d7ecf4622c5aaa6112311d435c61
()
bool
getPositionIKHelper
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
ad85cdd38194d6b76fefbf823f8fee376
(moveit_msgs::GetPositionIK::Request &request, moveit_msgs::GetPositionIK::Response &response)
virtual bool
transformPose
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
a4d69c0efe42681066f5857fd58d32301
(const std::string &des_frame, const geometry_msgs::PoseStamped &pose_in, geometry_msgs::PoseStamped &pose_out)
bool
active_
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
ab9a4b46263e41a47ccdb9ae3a8ae8230
int
dimension_
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
a14aea387b4e852278fc64587d9f6ea5a
ros::ServiceServer
fk_service_
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
aedb089ff931dbb5c0d9532314b4c3826
moveit_msgs::KinematicSolverInfo
fk_solver_info_
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
a367fc2f9bde7d1e8fccfecff7dfbe396
ros::ServiceServer
fk_solver_info_service_
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
af08794af1b5971baf7c2afb5c8f43c33
int
free_angle_
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
a0ee300b94bbb5abf5f34b1f57a75bedf
ros::ServiceServer
ik_service_
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
adec68ecb6827b3f07592f857d9846e06
moveit_msgs::KinematicSolverInfo
ik_solver_info_
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
a87289d7aceb06c43e165a6e963728237
ros::ServiceServer
ik_solver_info_service_
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
a8f4834d2dbfb5f6992b8ae601ca3ba8b
boost::shared_ptr< KDL::ChainFkSolverPos_recursive >
jnt_to_pose_solver_
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
a9ca84f69b1d9a4c35a10e806c2bcee5c
KDL::Chain
kdl_chain_
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
aa899267b6ef1753bd993dea9babf0709
ros::NodeHandle
node_handle_
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
a2ed78dbc71b4ffc4f38c28ff5b218c56
boost::shared_ptr< pr2_arm_kinematics::PR2ArmIKSolver >
pr2_arm_ik_solver_
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
a60c3fa3303babc616e43d5ded5d7bfb0
urdf::Model
robot_model_
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
a051ff2117d9480d1fb24bca18c7b1b26
ros::NodeHandle
root_handle_
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
a4fc7fc898a2cbb63912f910933474d2f
std::string
root_name_
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
a6782dd6694abf76315cd1d18758ee098
double
search_discretization_
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
a291445f7c724da5ffeb513fe298d60e8
tf::TransformListener *
tf_
classpr2__arm__kinematics_1_1PR2ArmKinematics.html
ab1102fcb060ced13ba61065ab2878e19
pr2_arm_ik
namespacepr2__arm__ik.html
pr2_arm_kinematics
namespacepr2__arm__kinematics.html
pr2_arm_kinematics::PR2ArmKinematics
bool
checkFKService
namespacepr2__arm__kinematics.html
a41db6ddc893ca7c26440c7e61d8a2d7d
(moveit_msgs::GetPositionFK::Request &request, moveit_msgs::GetPositionFK::Response &response, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkIKService
namespacepr2__arm__kinematics.html
a987e06a365ff8c222568f599ee8fdbdc
(moveit_msgs::GetPositionIK::Request &request, moveit_msgs::GetPositionIK::Response &response, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkJointNames
namespacepr2__arm__kinematics.html
a91abf48dd0b300a1df5fd305b43dcff1
(const std::vector< std::string > &joint_names, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkLinkName
namespacepr2__arm__kinematics.html
a238c65a13429a0ca337c1caa13a15a8c
(const std::string &link_name, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkLinkNames
namespacepr2__arm__kinematics.html
a5d6147fe4ae603284e1d46b6606b3140
(const std::vector< std::string > &link_names, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkRobotState
namespacepr2__arm__kinematics.html
affacf79416a6eb8ecdfe73a6233ee0af
(moveit_msgs::RobotState &robot_state, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
convertPoseToRootFrame
namespacepr2__arm__kinematics.html
a78a02b4623966b0cc3a4b46b188348f7
(const geometry_msgs::PoseStamped &pose_msg, KDL::Frame &pose_kdl, const std::string &root_frame, tf::TransformListener &tf)
bool
convertPoseToRootFrame
namespacepr2__arm__kinematics.html
a699d7d1e89d7758ce3dc6b990cbabea7
(const geometry_msgs::PoseStamped &pose_msg, geometry_msgs::PoseStamped &pose_msg_out, const std::string &root_frame, tf::TransformListener &tf)
int
getJointIndex
namespacepr2__arm__kinematics.html
ae9cbf137821fb7fdb988c26e56310af3
(const std::string &name, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
getKDLChain
namespacepr2__arm__kinematics.html
af0523bf32fd5b8325a12c12497b62a04
(const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain)
int
getKDLSegmentIndex
namespacepr2__arm__kinematics.html
a3397abd63c2b5232fb14a26c7d7a3853
(const KDL::Chain &chain, const std::string &name)
bool
getKDLTree
namespacepr2__arm__kinematics.html
ae5237df4d00a7dbdb07a080ba0565ea4
(const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Tree &kdl_chain)
bool
loadRobotModel
namespacepr2__arm__kinematics.html
ac9aa53d98899869c54062c7948c6e18e
(ros::NodeHandle node_handle, urdf::Model &robot_model, std::string &xml_string)
Eigen::Matrix4f
matrixInverse
namespacepr2__arm__kinematics.html
a9020143d0e191764fe66cbbf006ad359
(const Eigen::Matrix4f &g)
static const std::string
FK_INFO_SERVICE
namespacepr2__arm__kinematics.html
af4140c4bfca8d604d2a4b59722e9fd4e
static const std::string
FK_SERVICE
namespacepr2__arm__kinematics.html
adc80cfd50d6cccd2561f9c0d4d2403c0
static const double
IK_DEFAULT_TIMEOUT
namespacepr2__arm__kinematics.html
afcd619c8a6533aafd35527d366f5d1eb
static const double
IK_EPS
namespacepr2__arm__kinematics.html
ac6a291b8c671719448644572f9b7aa35
static const std::string
IK_INFO_SERVICE
namespacepr2__arm__kinematics.html
a22a91ca286cfa69ea7afc03e117b525d
static const std::string
IK_SERVICE
namespacepr2__arm__kinematics.html
afb002be164be9d21208a328a9eac053a
static const int
NO_IK_SOLUTION
namespacepr2__arm__kinematics.html
ae8b821620ec119e950524b084b97545d
static const int
NUM_JOINTS_ARM7DOF
namespacepr2__arm__kinematics.html
a816d8c9a19c2e2967b4243a2585bba79
static const int
TIMED_OUT
namespacepr2__arm__kinematics.html
a244bc5bbfbb9d1a10247215245eb3f36