kinematic_tree.h File Reference

#include <map>
#include <random>
#include <string>
#include <vector>
#include <moveit/robot_model/robot_model.h>
#include <tf/transform_datatypes.h>
#include <visualization_msgs/MarkerArray.h>
#include <Eigen/Eigen>
#include <kdl/jacobian.hpp>
#include <kdl/tree.hpp>
#include <exotica_core/kinematic_element.h>

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Classes
struct	exotica::KinematicFrameRequest
struct	exotica::KinematicsRequest
struct	exotica::KinematicFrame
struct	exotica::KinematicResponse
	The KinematicResponse is the container to keep kinematic update data. The corresponding KinematicSolution is created from and indexes into a KinematicResponse. More...
class	exotica::KinematicSolution
	The KinematicSolution is created from - and maps into - a KinematicResponse. More...
class	exotica::KinematicTree

Namespaces
	exotica

Enumerations
enum	exotica::BaseType { exotica::FIXED = 0, exotica::FLOATING = 10, exotica::PLANAR = 20 }
enum	exotica::KinematicRequestFlags { exotica::KIN_FK = 0, exotica::KIN_J = 2, exotica::KIN_FK_VEL = 4, exotica::KIN_H = 8 }
enum	exotica::JointLimitType { exotica::LIMIT_POSITION_LOWER = 0, exotica::LIMIT_POSITION_UPPER = 1 }

Functions
KinematicRequestFlags	exotica::operator| (KinematicRequestFlags a, KinematicRequestFlags b)
KinematicRequestFlags	exotica::operator& (KinematicRequestFlags a, KinematicRequestFlags b)

Variables
constexpr double	exotica::inf = std::numeric_limits<double>::infinity()
constexpr double	exotica::pi = M_PI