api_documentation: http://ros.org/doc/fuerte/api/katana_kinematics_constraint_aware/html
authors: "Henning Deeken, Martin G\xFCnther"
brief: A kinematics plugin for the Katana 450 arm based on OpenRave IK and urdf-based
  FK
bugtracker: ''
depends:
- pluginlib
- rospy
- roscpp
- orrosplanning
- kinematics_base
- urdf
- arm_kinematics_constraint_aware
- kinematics_msgs
- geometry_msgs
- arm_navigation_msgs
depends_on:
- katana_arm_navigation
description: "\n\n    <p>\n      This package provides an plugin implementation of\
  \ the kinematics_base interface to establish constraint aware kinematics services.\n\
  \      The plugin combines the OpenRave IK service from the orroplanning package\
  \ and the generic urdf-based FK from the arm_kinematics package. To provide constraint_aware\
  \ services the plugin must be used with the arm_kinematics_constraint_aware node\
  \ of the respective package.\n    </p>\n\n    <p>\n      Additionally, the non_constraint_aware_ik_adapter\
  \ node provides the\n      <a href=\"/doc/api/kinematics_msgs/html/srv/GetConstraintAwarePositionIK.html\"\
  >get_constraint_aware_ik</a>\n      service. It just strips away all the constraint\
  \ aware stuff and calls a normal (non-constraint aware)\n      <a href=\"/doc/api/kinematics_msgs/html/srv/GetPositionIK.html\"\
  >get_ik</a> service instead.\n    </p>\n\n    <p>\n      Normally, get_constraint_aware_ik\
  \ checks the space of potential IK solutions (from get_ik) for a\n      solution\
  \ that obeys all constraints (i.e., a solution that is not in self-collision or\
  \ in collision\n      with the environment). That only really makes sense for a\
  \ redundant (&gt;6 DoF) robot arm. Since the\n      Katana only has 5 DoF, we only\
  \ get at most one IK solution, so there is nothing to filter.\n    </p>\n\n    <p>\n\
  \      If we return a solution that violates constraints - for instance, that is\
  \ in self-collision - then\n      move_arm will abort with an error code.  But if\
  \ the solution is valid, everything should work.\n    </p>\n\n  "
doc_job: doc-fuerte-uos
license: GPL
maintainers: ''
metapackages:
- katana_manipulation
msgs: []
package_type: package
repo_name: katana_manipulation
repo_url: ''
srvs: []
timestamp: 1362496837.776524
url: http://ros.org/wiki/katana_kinematics_constraint_aware
vcs: git
vcs_uri: http://kos.informatik.uni-osnabrueck.de/katana_manipulation.git
vcs_version: master
