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Kinova_API
v5.02.00
ROS communication with Kinova API
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Public Member Functions | |
KinovaPose (const geometry_msgs::Pose &pose) | |
KinovaPose (const CartesianInfo &pose) | |
geometry_msgs::Pose | constructPoseMsg () |
geometry_msgs::Wrench | constructWrenchMsg () |
bool | isCloseToOther (const KinovaPose &, float position_tolerance, float EulerAngle_tolerance) const |
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explicit |
obtain KinovaPosefrom geometry_msgs::Pose.
obtain KinovaPose[X,Y,Z,ThetaX,ThetaY,ThetaZ] from geometry_msgs::Pose[x,y,z,qx,qy,qz,qw]. Euler angles[] are extracted from tf::Matrix3x3 EulerYPR = Rz(tz)*Ry(ty)*Rx(tx), where EulerYPR is generated by Quaterion. Units are in meters and radians, The range of Euler angles are [-M_PI, M_PI)
geometry_msgs | ROS standard pose[x,y,z,qx,qy,qz,qw], in meters and quaterion. |
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explicit |
obtain KinovaPosefrom CartesianInfo &pose.
KinovaPose[X,Y,Z,ThetaX,ThetaY,ThetaZ]. position are in meters, and orientation is Euler-ZYX = Rz(ThetaZ)*Ry(ThetaY)*Rx(ThetaX). The range of Euler angles are [-M_PI, M_PI)
pose | CartesianInfo units are in meters and degrees |
geometry_msgs::Pose kinova::KinovaPose::constructPoseMsg | ( | ) |
construct geometric::Pose message from KinovaPose
geometry_msgs::Wrench kinova::KinovaPose::constructWrenchMsg | ( | ) |
construct geometric::Wrench message from KinovaPose data structure
KinovaPose[X,Y,Z,ThetaX,ThetaY,ThetaZ] doesn't store pose information in this case. Instead, it stores force and torque correspondingly.
bool kinova::KinovaPose::isCloseToOther | ( | const KinovaPose & | other, |
float | position_tolerance, | ||
float | EulerAngle_tolerance | ||
) | const |
check all the position and orientation values, to determine if current KinovaPose reach "other"
other | the pose to be compared with, normally the motion goal. In meters and radians. |
position_tolerance | threshold to be considered as identical between two position values in the same axis. |
EulerAngle_tolerance | threshold to be considered as identical between two EulerAngle values along the same axis. |