cob_kinematics¶

Contents:

Summary
Types
- Service types

Summary ¶

cob_kinematics¶

BuildtoolDepends:
Version:	0.6.3
Description:	IK solvers and utilities for Care-O-bot
Maintainers:	Mathias Luedtke <mdl AT ipa DOT fhg DOT de> Felix Messmer <fxm AT ipa DOT fhg DOT de>
Licenses:	LGPL
Urls:	website<http://ros.org/wiki/cob_manipulation/> bugtracker<https://github.com/ipa320/cob_manipulation/issues> repository<https://github.com/ipa320/cob_manipulation>
Authors:	Mathias Luedtke <mdl AT ipa DOT fhg DOT de>
BuildDepends:	`message_generation` `geometry_msgs` `liblapack-dev` `moveit_core` `moveit_msgs` `pluginlib` `roscpp` `std_msgs` `tf_conversions` `urdf`
	`catkin`
BuildExportDepends:
	`geometry_msgs` `liblapack-dev` `moveit_core` `moveit_msgs` `pluginlib` `roscpp` `std_msgs` `tf_conversions` `urdf`
ExecDepends:	`message_runtime` `geometry_msgs` `liblapack-dev` `moveit_core` `moveit_msgs` `pluginlib` `roscpp` `std_msgs` `tf_conversions` `urdf`

Types ¶

Service types ¶

cob_kinematics/GetPositionIKExtended

cob_kinematics/GetPositionIKExtended¶

Field (Request):
	ik_request (moveit_msgs/PositionIKRequest) – constraints (moveit_msgs/Constraints) – ik_pose (geometry_msgs/Pose) – constraint_aware (bool) – timeout (duration) –
Field (Response):
	solution (moveit_msgs/RobotState) – error_code (moveit_msgs/MoveItErrorCodes) –

A service call to carry out an inverse kinematics computation with extended IK pose The inverse kinematics request

# A service call to carry out an inverse kinematics computation with extended IK pose
# The inverse kinematics request
moveit_msgs/PositionIKRequest ik_request
# A set of constraints that the IK must obey
moveit_msgs/Constraints constraints
#extended pose of the end effector
geometry_msgs/Pose ik_pose
#obey constraints?
bool constraint_aware
# Maximum allowed time for IK calculation
duration timeout
---
# The returned solution
moveit_msgs/RobotState solution
moveit_msgs/MoveItErrorCodes error_code