uibk_kinematics
===============

This package contains a library class called uibk_kinematics::Kinematics.
This class can be used to easily compute FK and IK solutions for our robot.


Installation
============

Just copy this package into your catkin workspace and compile it.

Run the test
============

IMPORTANT: Make sure that the uibk_robot.urdf and the kinematics.yaml are uploaded to the parameter server
before running any programm using this class, otherwise it will fail!
You can do that with 

  roslaunch uibk_kinematics kinematics.launch
  
To run the test file you can use
  
  rosrun uibk_kinematics kinematics_test
  
  
Usage
========

Just instantiate an object of type uibk_kinematics::Kinematics...

  uibk_kinematics::Kinematics kin;
  
... and use it's functions.

  bool success = kin.computeIK(ARM, GOAL, SOLUTION_VECTOR);
  
  where ARM can be either 'left' or 'right'
	GOAL is a geometry_msgs::Pose
	SOLUTION_VECTOR is a vector<double> that holds the solution in case of success
	
  It is also possible to provide a seed state:
  
  bool success = kin.computeIK(ARM, GOAL, SEED, SOLUTION);
  
  where SEED is a vector<double>, holidng exactly as many entries as there are arm joints
  
... or
  
  bool success = kin.computeFK(ARM, JOINT_POSITIONS, SOLUTION);

  where ARM is either 'left' or 'right'
	JOINT_POSITIONS is a vector<double>, holding the jointpositions
	SOLUTION is a geometry_msgs::Pose that will be filled with the solution in case of success
  
Look into kinematics_test.cpp to see the class in action.