fingertip_pos_publisher.py
/tmp/ws/src/sr_interface/sr_hand_kinematics/hand_kinematics/test/
fingertip__pos__publisher_8py
fingertip_pos_publisher
listener
namespacefingertip__pos__publisher.html
a1a46ebf9c27be02bc36aa15ba1301966
rate
namespacefingertip__pos__publisher.html
a7118d453d57017fbfb33ef531963b41e
rot
namespacefingertip__pos__publisher.html
a85c91f779331faacd288fb7d600a58df
list
tip_pos_pub
namespacefingertip__pos__publisher.html
a24e8cd131739cdfca7d3aba3618a6fc9
trans
namespacefingertip__pos__publisher.html
a214aee82eeedcb127386ee66bee96f83
hand_kinematics_coupling.cpp
/tmp/ws/src/sr_interface/sr_hand_kinematics/hand_kinematics/src/
hand__kinematics__coupling_8cpp
Kinematics
#define
IK_EPS
hand__kinematics__coupling_8cpp.html
a8793da4b4cf56ba295bffe0cbd5bf3db
int
main
hand__kinematics__coupling_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
Eigen::MatrixXd
updateCouplingFF
hand__kinematics__coupling_8cpp.html
a289f352fd25cde4f8825ed1f15a391bd
(const KDL::JntArray &q)
Eigen::MatrixXd
updateCouplingLF
hand__kinematics__coupling_8cpp.html
af2f60e7c222b91132e07af8b3e183b66
(const KDL::JntArray &q)
Eigen::MatrixXd
updateCouplingMF
hand__kinematics__coupling_8cpp.html
a12cf94a78ac8438bec0e2d6d65aa4e27
(const KDL::JntArray &q)
Eigen::MatrixXd
updateCouplingRF
hand__kinematics__coupling_8cpp.html
aac627fd2288c518f0607ec7d23aac962
(const KDL::JntArray &q)
Eigen::MatrixXd
updateCouplingTH
hand__kinematics__coupling_8cpp.html
a78c45f807be0b1dae0e1e93847580106
(const KDL::JntArray &q)
static const std::string
FK_SERVICE
hand__kinematics__coupling_8cpp.html
a3eeb19f1ce36ab259ed1e478ba070cb1
static const std::string
IK_SERVICE
hand__kinematics__coupling_8cpp.html
ac7ecdca94593b14c7d0b53141828fb94
hand_kinematics_coupling_plugin.cpp
/tmp/ws/src/sr_interface/sr_hand_kinematics/hand_kinematics/src/
hand__kinematics__coupling__plugin_8cpp
hand_kinematics/hand_kinematics_plugin.h
hand_kinematics
#define
IK_EPS
hand__kinematics__coupling__plugin_8cpp.html
a8793da4b4cf56ba295bffe0cbd5bf3db
static const std::string
FK_SERVICE
hand__kinematics__coupling__plugin_8cpp.html
a3eeb19f1ce36ab259ed1e478ba070cb1
static const double
IK_DEFAULT_TIMEOUT
namespacehand__kinematics.html
a69bd27b757155d75b6ba76dc28d603cf
static const std::string
IK_SERVICE
hand__kinematics__coupling__plugin_8cpp.html
ac7ecdca94593b14c7d0b53141828fb94
static const std::string
IK_WITH_COLLISION_SERVICE
hand__kinematics__coupling__plugin_8cpp.html
a8e1b5e0824b18b05fe48ff4ab3396ee8
hand_kinematics_plugin.h
/tmp/ws/src/sr_interface/sr_hand_kinematics/hand_kinematics/include/hand_kinematics/
hand__kinematics__plugin_8h
hand_kinematics/hand_kinematics_utils.h
hand_kinematics::HandKinematicsPlugin
hand_kinematics
hand_kinematics_utils.cpp
/tmp/ws/src/sr_interface/sr_hand_kinematics/hand_kinematics/src/
hand__kinematics__utils_8cpp
hand_kinematics/hand_kinematics_utils.h
hand_kinematics
bool
checkFKService
namespacehand__kinematics.html
a548388e9f1b9be44e0fcdbbbe0b644d3
(moveit_msgs::GetPositionFK::Request &request, moveit_msgs::GetPositionFK::Response &response, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkIKService
namespacehand__kinematics.html
aa8993157204791926f2c1457ce989ac0
(moveit_msgs::GetPositionIK::Request &request, moveit_msgs::GetPositionIK::Response &response, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkJointNames
namespacehand__kinematics.html
a945a40d7b32108321148c1b72da44081
(const std::vector< std::string > &joint_names, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkLinkName
namespacehand__kinematics.html
a6371a0b968ecb91b00d643b3649688bd
(const std::string &link_name, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkLinkNames
namespacehand__kinematics.html
a5cf2c8db1665414603c3c0d61c413f99
(const std::vector< std::string > &link_names, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkRobotState
namespacehand__kinematics.html
ae244885406dfa22c7d618c33a2b2f257
(moveit_msgs::RobotState &robot_state, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
convertPoseToRootFrame
namespacehand__kinematics.html
af804f020b98f9948f393d67883552001
(const geometry_msgs::PoseStamped &pose_msg, KDL::Frame &pose_kdl, const std::string &root_frame, tf::TransformListener &tf)
bool
convertPoseToRootFrame
namespacehand__kinematics.html
a2f8e70b916bf1d285019d90cf829a5e3
(const geometry_msgs::PoseStamped &pose_msg, geometry_msgs::PoseStamped &pose_msg_out, const std::string &root_frame, tf::TransformListener &tf)
int
getJointIndex
namespacehand__kinematics.html
af38dd8b8391de74c865565ade61c86d0
(const std::string &name, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
getKDLChain
namespacehand__kinematics.html
a2aff9ba39924f3c00e463bd80f6cec18
(const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain)
void
getKDLChainInfo
namespacehand__kinematics.html
a7301b182a4ada130de7c6fa119877ed1
(const KDL::Chain &chain, moveit_msgs::KinematicSolverInfo &chain_info)
int
getKDLSegmentIndex
namespacehand__kinematics.html
a96e50c4db9825b983093eee51f1e6d91
(const KDL::Chain &chain, const std::string &name)
bool
getKDLTree
namespacehand__kinematics.html
add71e72def9896ba7601b7f07005fd38
(const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Tree &kdl_chain)
bool
init_ik
namespacehand__kinematics.html
a9c1fdfbf3a8eeeb28c51e6953e453640
(urdf::Model &robot_model, const std::string &root_name, const std::string &tip_name, KDL::JntArray &joint_min, KDL::JntArray &joint_max, moveit_msgs::KinematicSolverInfo &info)
bool
loadRobotModel
namespacehand__kinematics.html
a72623270068393fbb5917301d6df8f1f
(ros::NodeHandle node_handle, urdf::Model &robot_model, std::string &root_name, std::string &tip_name, std::string &xml_string)
Eigen::MatrixXd
updateCouplingFF
namespacehand__kinematics.html
ad5850e64749950a5b7b872e9a7fb5d80
(const KDL::JntArray &q)
Eigen::MatrixXd
updateCouplingLF
namespacehand__kinematics.html
a8f581597812c7dfc1d6f74bccb2d4b9e
(const KDL::JntArray &q)
Eigen::MatrixXd
updateCouplingMF
namespacehand__kinematics.html
a9746ee567c9096bf1f9e20a57eafa9bd
(const KDL::JntArray &q)
Eigen::MatrixXd
updateCouplingRF
namespacehand__kinematics.html
a25ba37e1a65489d3458cf17170ab079c
(const KDL::JntArray &q)
Eigen::MatrixXd
updateCouplingTH
namespacehand__kinematics.html
a0e9d50dd4591146fd7e56e5d936833ac
(const KDL::JntArray &q)
static const double
IK_DEFAULT_TIMEOUT
namespacehand__kinematics.html
a69bd27b757155d75b6ba76dc28d603cf
hand_kinematics_utils.h
/tmp/ws/src/sr_interface/sr_hand_kinematics/hand_kinematics/include/hand_kinematics/
hand__kinematics__utils_8h
hand_kinematics
bool
checkFKService
namespacehand__kinematics.html
a548388e9f1b9be44e0fcdbbbe0b644d3
(moveit_msgs::GetPositionFK::Request &request, moveit_msgs::GetPositionFK::Response &response, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkIKService
namespacehand__kinematics.html
aa8993157204791926f2c1457ce989ac0
(moveit_msgs::GetPositionIK::Request &request, moveit_msgs::GetPositionIK::Response &response, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkJointNames
namespacehand__kinematics.html
a945a40d7b32108321148c1b72da44081
(const std::vector< std::string > &joint_names, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkLinkName
namespacehand__kinematics.html
a6371a0b968ecb91b00d643b3649688bd
(const std::string &link_name, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkLinkNames
namespacehand__kinematics.html
a5cf2c8db1665414603c3c0d61c413f99
(const std::vector< std::string > &link_names, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkRobotState
namespacehand__kinematics.html
ae244885406dfa22c7d618c33a2b2f257
(moveit_msgs::RobotState &robot_state, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
convertPoseToRootFrame
namespacehand__kinematics.html
af804f020b98f9948f393d67883552001
(const geometry_msgs::PoseStamped &pose_msg, KDL::Frame &pose_kdl, const std::string &root_frame, tf::TransformListener &tf)
bool
convertPoseToRootFrame
namespacehand__kinematics.html
a2f8e70b916bf1d285019d90cf829a5e3
(const geometry_msgs::PoseStamped &pose_msg, geometry_msgs::PoseStamped &pose_msg_out, const std::string &root_frame, tf::TransformListener &tf)
int
getJointIndex
namespacehand__kinematics.html
af38dd8b8391de74c865565ade61c86d0
(const std::string &name, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
getKDLChain
namespacehand__kinematics.html
a2aff9ba39924f3c00e463bd80f6cec18
(const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain)
void
getKDLChainInfo
namespacehand__kinematics.html
a7301b182a4ada130de7c6fa119877ed1
(const KDL::Chain &chain, moveit_msgs::KinematicSolverInfo &chain_info)
int
getKDLSegmentIndex
namespacehand__kinematics.html
a96e50c4db9825b983093eee51f1e6d91
(const KDL::Chain &chain, const std::string &name)
bool
getKDLTree
namespacehand__kinematics.html
add71e72def9896ba7601b7f07005fd38
(const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Tree &kdl_chain)
bool
init_ik
namespacehand__kinematics.html
a9c1fdfbf3a8eeeb28c51e6953e453640
(urdf::Model &robot_model, const std::string &root_name, const std::string &tip_name, KDL::JntArray &joint_min, KDL::JntArray &joint_max, moveit_msgs::KinematicSolverInfo &info)
bool
loadRobotModel
namespacehand__kinematics.html
a72623270068393fbb5917301d6df8f1f
(ros::NodeHandle node_handle, urdf::Model &robot_model, std::string &root_name, std::string &tip_name, std::string &xml_string)
Eigen::MatrixXd
updateCouplingFF
namespacehand__kinematics.html
ad5850e64749950a5b7b872e9a7fb5d80
(const KDL::JntArray &q)
Eigen::MatrixXd
updateCouplingLF
namespacehand__kinematics.html
a8f581597812c7dfc1d6f74bccb2d4b9e
(const KDL::JntArray &q)
Eigen::MatrixXd
updateCouplingMF
namespacehand__kinematics.html
a9746ee567c9096bf1f9e20a57eafa9bd
(const KDL::JntArray &q)
Eigen::MatrixXd
updateCouplingRF
namespacehand__kinematics.html
a25ba37e1a65489d3458cf17170ab079c
(const KDL::JntArray &q)
Eigen::MatrixXd
updateCouplingTH
namespacehand__kinematics.html
a0e9d50dd4591146fd7e56e5d936833ac
(const KDL::JntArray &q)
test_kinematics_as_plugin.cpp
/tmp/ws/src/sr_interface/sr_hand_kinematics/hand_kinematics/test/
test__kinematics__as__plugin_8cpp
hand_kinematics/hand_kinematics_plugin.h
MyTest
#define
IK_NEAR
test__kinematics__as__plugin_8cpp.html
a5f62aaa1dd63cf3367df0836b46b1b5c
#define
IK_NEAR_TRANSLATE
test__kinematics__as__plugin_8cpp.html
ae3a06c23d1d34a7a1d6a24aea7f88a61
int
main
test__kinematics__as__plugin_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
TEST
test__kinematics__as__plugin_8cpp.html
a4411298ff08e2e022dec5e9f8151886b
(HandIKPlugin, initialize)
TEST
test__kinematics__as__plugin_8cpp.html
a62f17e388b79a6b82a96ba6d5d79075d
(HandIKPlugin, getFK)
TEST
test__kinematics__as__plugin_8cpp.html
ab5ec00b81b7d522c4ff2a8c54d08cbd6
(HandIKPlugin, searchIK)
TEST
test__kinematics__as__plugin_8cpp.html
a737a21ed456c4fc5d1a683a028d06527
(HandIKPlugin, searchIKWithCallbacks)
MyTest
my_test
test__kinematics__as__plugin_8cpp.html
a872fdf4fc0808021c40c8dc05f4560aa
test_kinematics_as_service.cpp
/tmp/ws/src/sr_interface/sr_hand_kinematics/hand_kinematics/test/
test__kinematics__as__service_8cpp
hand_kinematics/hand_kinematics_plugin.h
#define
DEG2RAD
test__kinematics__as__service_8cpp.html
af7e8592d0a634bd3642e9fd508ea8022
#define
IK_NEAR
test__kinematics__as__service_8cpp.html
a5f62aaa1dd63cf3367df0836b46b1b5c
#define
MAX_DELTA
test__kinematics__as__service_8cpp.html
a04931eb781a9e662b7d2d6fe7a9ab4ba
#define
RAD2DEG
test__kinematics__as__service_8cpp.html
ac5a945020d3528355cda82d383676736
int
main
test__kinematics__as__service_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
double
rand_range
test__kinematics__as__service_8cpp.html
a591b4903e4e6a7e44b4aefbc1becc90a
(double min_n, double max_n)
void
random_test_finger_fkik
test__kinematics__as__service_8cpp.html
ab3365107adfd025495c81cf0988185b2
(std::string PREFIX, std::string prefix, int n_tests, bool verbose=false)
TEST
test__kinematics__as__service_8cpp.html
a4764f23ba7103549ff492cc6f505e556
(FKIK, first_finger)
TEST
test__kinematics__as__service_8cpp.html
aafc57ea84641005ccbb91b95f01a3ea4
(FKIK, middle_finger)
TEST
test__kinematics__as__service_8cpp.html
abf8abeace2fd8e0e8e24c2d6b99f37c0
(FKIK, ring_finger)
TEST
test__kinematics__as__service_8cpp.html
ae730ce390e89215cba1ab6c932104543
(FKIK, little_finger)
TEST
test__kinematics__as__service_8cpp.html
abc7c8b3d1129dac32aa2e3d41e5e7867
(FKIK, thumb)
ros::NodeHandle *
nh
test__kinematics__as__service_8cpp.html
a898856750d65dc6e6706ea4772115d04
bool
verbose
test__kinematics__as__service_8cpp.html
ab3f078684998b83967d507d0f453f454
hand_kinematics::HandKinematicsPlugin
classhand__kinematics_1_1HandKinematicsPlugin.html
kinematics::KinematicsBase
const std::vector< std::string > &
getJointNames
classhand__kinematics_1_1HandKinematicsPlugin.html
ab6057f2ab98410a1acf947d736ad78a3
() const
const std::vector< std::string > &
getLinkNames
classhand__kinematics_1_1HandKinematicsPlugin.html
a8144aee375196fc0ae3829e76151b081
() const
virtual bool
getPositionFK
classhand__kinematics_1_1HandKinematicsPlugin.html
ad6ff2d69d90024cabd84b15327b4850d
(const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::Pose > &poses) const
virtual bool
getPositionIK
classhand__kinematics_1_1HandKinematicsPlugin.html
ae6e9e8bd0fe3731e8c7bb392f5099bdf
(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, std::vector< double > &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
HandKinematicsPlugin
classhand__kinematics_1_1HandKinematicsPlugin.html
a34604ff836f36dd78bc9873572361716
()
virtual bool
initialize
classhand__kinematics_1_1HandKinematicsPlugin.html
aa64766ef033e864a3bd846dc36907b83
(const moveit::core::RobotModel &robot_model, const std::string &group_name, const std::string &base_frame, const std::vector< std::string > &tip_frames, double search_discretization)
bool
isActive
classhand__kinematics_1_1HandKinematicsPlugin.html
aa6609a7e2991e6a0dac0386cf9658849
()
virtual bool
searchPositionIK
classhand__kinematics_1_1HandKinematicsPlugin.html
a0a956a334759076c5c90754cf4cb5893
(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, std::vector< double > &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
virtual bool
searchPositionIK
classhand__kinematics_1_1HandKinematicsPlugin.html
a7194160c24e5cbc6c939157652b53db5
(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
virtual bool
searchPositionIK
classhand__kinematics_1_1HandKinematicsPlugin.html
a67d8f6cbbd969c397fca2161d2b93e0a
(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
virtual bool
searchPositionIK
classhand__kinematics_1_1HandKinematicsPlugin.html
a8a7c6b9bd0c9e896038b177ecb9558b5
(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
void
generateRandomJntSeed
classhand__kinematics_1_1HandKinematicsPlugin.html
a0ab943cc8bf02f88542544650e797410
(KDL::JntArray &jnt_pos_in) const
bool
active_
classhand__kinematics_1_1HandKinematicsPlugin.html
a3a59b809a45120cc79808b4a14b0e5ca
int
dimension_
classhand__kinematics_1_1HandKinematicsPlugin.html
a9310fa75c85eb3bf719a5dde4495ed58
std::string
finger_base_name
classhand__kinematics_1_1HandKinematicsPlugin.html
ab8a7173c77f6fa8b74dca07718ab2381
KDL::ChainFkSolverPos_recursive *
fk_solver
classhand__kinematics_1_1HandKinematicsPlugin.html
a4aa09f8d55698c2576ab9b4025bb49fc
moveit_msgs::KinematicSolverInfo
fk_solver_info_
classhand__kinematics_1_1HandKinematicsPlugin.html
a36ab37693f131d74d733f680b7e322fa
moveit_msgs::KinematicSolverInfo
ik_solver_info_
classhand__kinematics_1_1HandKinematicsPlugin.html
a04729f4f96dcd4e1ed010bcdad98ff42
KDL::ChainIkSolverPos_NR_JL_coupling *
ik_solver_pos
classhand__kinematics_1_1HandKinematicsPlugin.html
af23db08f872eb260bfdb7a59923aff4d
KDL::ChainIkSolverVel_wdls_coupling *
ik_solver_vel
classhand__kinematics_1_1HandKinematicsPlugin.html
a7b4b125d05a5f08e7465e6d961304b72
boost::shared_ptr< KDL::ChainFkSolverPos_recursive >
jnt_to_pose_solver_
classhand__kinematics_1_1HandKinematicsPlugin.html
aa445481c78e29ac8b174e9d675d5d9f9
KDL::JntArray
joint_max_
classhand__kinematics_1_1HandKinematicsPlugin.html
a01c3ef2d22180ed4599a8ca88c3191ee
KDL::JntArray
joint_min_
classhand__kinematics_1_1HandKinematicsPlugin.html
a5860373089041323e60fac248624beab
KDL::Chain_coupling
kdl_chain_
classhand__kinematics_1_1HandKinematicsPlugin.html
abaac3327253f7aa75f20098bb1c8a9c9
ros::NodeHandle
node_handle_
classhand__kinematics_1_1HandKinematicsPlugin.html
a1c745830e4afa2fa293f9f06ada08004
urdf::Model
robot_model_
classhand__kinematics_1_1HandKinematicsPlugin.html
a7e3f5ed0152c56c806a04d7290fd24ec
ros::NodeHandle
root_handle_
classhand__kinematics_1_1HandKinematicsPlugin.html
a5e4e4b8b306240a3184a00276cbfd282
double
search_discretization_
classhand__kinematics_1_1HandKinematicsPlugin.html
a3a0e61130f6942c00effcdf798ab8258
moveit_msgs::KinematicSolverInfo
solver_info_
classhand__kinematics_1_1HandKinematicsPlugin.html
afd30c179dd9455dedbcec9efbaabf312
Kinematics
classKinematics.html
bool
init
classKinematics.html
ab1b57c79b0cf4adc808d63f8f781d57a
()
Kinematics
classKinematics.html
af4e587252019eaa863b4246026296d4a
()
void
generateRandomJntSeed
classKinematics.html
aa591512cd12326e49c97adcb93c2152e
(KDL::JntArray &jnt_pos_in)
int
getJointIndex
classKinematics.html
aa5a6f369c7741df76514a472f549ff09
(const std::string &name)
int
getKDLSegmentIndex
classKinematics.html
af5d93767ce9218488c25e14346131ad5
(const std::string &name)
bool
getPositionFK
classKinematics.html
af444e591ca2efd584aee96d494ae8017
(moveit_msgs::GetPositionFK::Request &request, moveit_msgs::GetPositionFK::Response &response)
bool
getPositionIK
classKinematics.html
a7dd98191224874c90c61870afe626557
(moveit_msgs::GetPositionIK::Request &request, moveit_msgs::GetPositionIK::Response &response)
bool
loadModel
classKinematics.html
a2491b0bbeb7395fe5c0156dde0a4363d
(const std::string xml)
bool
readJoints
classKinematics.html
a52e9c9fd47696db428ad56b640b733dd
(urdf::Model &robot_model)
KDL::Chain_coupling
chain
classKinematics.html
aa407b4773a37602b6694de4ed117d41d
std::string
finger_base_name
classKinematics.html
a5fd438fd2ee9b363d243841acadb4b9a
ros::ServiceServer
fk_service
classKinematics.html
ab49aefc2969ad5703181a0221a804a02
KDL::ChainFkSolverPos_recursive *
fk_solver
classKinematics.html
a34d6cfc33c53de21da609a8d946b8816
ros::ServiceServer
ik_service
classKinematics.html
a0cb6defa3d3bb89a22a0032ce8e2b61d
KDL::ChainIkSolverPos_NR_JL_coupling *
ik_solver_pos
classKinematics.html
a28cb3a1e2368e7332d1c73111f8498b5
KDL::ChainIkSolverVel_wdls_coupling *
ik_solver_vel
classKinematics.html
a83482572d6b41cf9be48e7b4e7227bb6
moveit_msgs::KinematicSolverInfo
info
classKinematics.html
a4f3cf213bd0e028fb5d1f2be08bcb647
KDL::JntArray
joint_max
classKinematics.html
ac29342d180f646921535c4026e78862b
KDL::JntArray
joint_min
classKinematics.html
a2eb40bf5888be13788ac405d2b374fa9
ros::NodeHandle
nh
classKinematics.html
aaf03727b807401a567b59398698b5f1b
ros::NodeHandle
nh_private
classKinematics.html
a5410c3d004be006892779c6474ec1f29
unsigned int
num_joints
classKinematics.html
a7451250ac39cd7f2981ae220d8192341
std::string
root_name
classKinematics.html
a2b0bb109b3f8cd013c000be52b112142
tf::TransformListener
tf_listener
classKinematics.html
aa0267498f51cd9387ac95062b1760f03
std::string
tip_name
classKinematics.html
aa55d2f883c33ddade4442828600a475f
MyTest
classMyTest.html
bool
initialize
classMyTest.html
aad4970e4a034b3dfb0376a360c667e13
()
void
joint_state_callback
classMyTest.html
a5175676ba5c53a077b35fcbf6a2b886f
(const geometry_msgs::Pose &ik_pose, const std::vector< double > &joint_state, moveit_msgs::MoveItErrorCodes &error_code)
boost::shared_ptr< pluginlib::ClassLoader< kinematics::KinematicsBase > >
kinematics_loader_
classMyTest.html
ab9bbf446977d6a70c9b76b82c8e1d0ec
kinematics::KinematicsBasePtr
kinematics_solver_
classMyTest.html
a299c55e93db9212cdb2ad21913f4f7d4
fingertip_pos_publisher
namespacefingertip__pos__publisher.html
listener
namespacefingertip__pos__publisher.html
a1a46ebf9c27be02bc36aa15ba1301966
rate
namespacefingertip__pos__publisher.html
a7118d453d57017fbfb33ef531963b41e
rot
namespacefingertip__pos__publisher.html
a85c91f779331faacd288fb7d600a58df
list
tip_pos_pub
namespacefingertip__pos__publisher.html
a24e8cd131739cdfca7d3aba3618a6fc9
trans
namespacefingertip__pos__publisher.html
a214aee82eeedcb127386ee66bee96f83
hand_kinematics
namespacehand__kinematics.html
hand_kinematics::HandKinematicsPlugin
bool
checkFKService
namespacehand__kinematics.html
a548388e9f1b9be44e0fcdbbbe0b644d3
(moveit_msgs::GetPositionFK::Request &request, moveit_msgs::GetPositionFK::Response &response, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkIKService
namespacehand__kinematics.html
aa8993157204791926f2c1457ce989ac0
(moveit_msgs::GetPositionIK::Request &request, moveit_msgs::GetPositionIK::Response &response, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkJointNames
namespacehand__kinematics.html
a945a40d7b32108321148c1b72da44081
(const std::vector< std::string > &joint_names, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkLinkName
namespacehand__kinematics.html
a6371a0b968ecb91b00d643b3649688bd
(const std::string &link_name, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkLinkNames
namespacehand__kinematics.html
a5cf2c8db1665414603c3c0d61c413f99
(const std::vector< std::string > &link_names, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
checkRobotState
namespacehand__kinematics.html
ae244885406dfa22c7d618c33a2b2f257
(moveit_msgs::RobotState &robot_state, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
convertPoseToRootFrame
namespacehand__kinematics.html
af804f020b98f9948f393d67883552001
(const geometry_msgs::PoseStamped &pose_msg, KDL::Frame &pose_kdl, const std::string &root_frame, tf::TransformListener &tf)
bool
convertPoseToRootFrame
namespacehand__kinematics.html
a2f8e70b916bf1d285019d90cf829a5e3
(const geometry_msgs::PoseStamped &pose_msg, geometry_msgs::PoseStamped &pose_msg_out, const std::string &root_frame, tf::TransformListener &tf)
int
getJointIndex
namespacehand__kinematics.html
af38dd8b8391de74c865565ade61c86d0
(const std::string &name, const moveit_msgs::KinematicSolverInfo &chain_info)
bool
getKDLChain
namespacehand__kinematics.html
a2aff9ba39924f3c00e463bd80f6cec18
(const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Chain &kdl_chain)
void
getKDLChainInfo
namespacehand__kinematics.html
a7301b182a4ada130de7c6fa119877ed1
(const KDL::Chain &chain, moveit_msgs::KinematicSolverInfo &chain_info)
int
getKDLSegmentIndex
namespacehand__kinematics.html
a96e50c4db9825b983093eee51f1e6d91
(const KDL::Chain &chain, const std::string &name)
bool
getKDLTree
namespacehand__kinematics.html
add71e72def9896ba7601b7f07005fd38
(const std::string &xml_string, const std::string &root_name, const std::string &tip_name, KDL::Tree &kdl_chain)
bool
init_ik
namespacehand__kinematics.html
a9c1fdfbf3a8eeeb28c51e6953e453640
(urdf::Model &robot_model, const std::string &root_name, const std::string &tip_name, KDL::JntArray &joint_min, KDL::JntArray &joint_max, moveit_msgs::KinematicSolverInfo &info)
bool
loadRobotModel
namespacehand__kinematics.html
a72623270068393fbb5917301d6df8f1f
(ros::NodeHandle node_handle, urdf::Model &robot_model, std::string &root_name, std::string &tip_name, std::string &xml_string)
Eigen::MatrixXd
updateCouplingFF
namespacehand__kinematics.html
ad5850e64749950a5b7b872e9a7fb5d80
(const KDL::JntArray &q)
Eigen::MatrixXd
updateCouplingLF
namespacehand__kinematics.html
a8f581597812c7dfc1d6f74bccb2d4b9e
(const KDL::JntArray &q)
Eigen::MatrixXd
updateCouplingMF
namespacehand__kinematics.html
a9746ee567c9096bf1f9e20a57eafa9bd
(const KDL::JntArray &q)
Eigen::MatrixXd
updateCouplingRF
namespacehand__kinematics.html
a25ba37e1a65489d3458cf17170ab079c
(const KDL::JntArray &q)
Eigen::MatrixXd
updateCouplingTH
namespacehand__kinematics.html
a0e9d50dd4591146fd7e56e5d936833ac
(const KDL::JntArray &q)
static const double
IK_DEFAULT_TIMEOUT
namespacehand__kinematics.html
a69bd27b757155d75b6ba76dc28d603cf
static const double
IK_DEFAULT_TIMEOUT
namespacehand__kinematics.html
a69bd27b757155d75b6ba76dc28d603cf