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ShadowHandUtilityLibrary
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#include <actionlib/client/simple_action_client.h>#include <controller_manager_msgs/SwitchController.h>#include <geometry_msgs/Pose.h>#include <geometry_msgs/PoseStamped.h>#include <pluginlib/class_loader.h>#include <ros/console.h>#include <ros/master.h>#include <ros/ros.h>#include <ros/topic_manager.h>#include <sensor_msgs/JointState.h>#include <std_msgs/Float32.h>#include <std_msgs/Float64.h>#include <tf/transform_broadcaster.h>#include <tf/transform_listener.h>#include <trajectory_msgs/JointTrajectory.h>#include <trajectory_msgs/JointTrajectoryPoint.h>#include <moveit/robot_model/robot_model.h>#include <moveit/robot_model_loader/robot_model_loader.h>#include <moveit/robot_state/robot_state.h>#include <moveit_visual_tools/moveit_visual_tools.h>#include <moveit/move_group_interface/move_group_interface.h>#include <moveit/planning_interface/planning_interface.h>#include <moveit/planning_scene/planning_scene.h>#include <moveit/planning_scene_interface/planning_scene_interface.h>#include <moveit_msgs/ExecuteTrajectoryAction.h>#include <moveit_msgs/MoveItErrorCodes.h>#include <moveit_msgs/PlanningScene.h>#include <moveit/robot_state/conversions.h>#include <moveit_msgs/DisplayRobotState.h>#include <urdf/model.h>#include <moveit/kinematic_constraints/utils.h>#include <moveit_msgs/GetPositionIK.h>#include <moveit_msgs/PositionIKRequest.h>#include <sr_robot_msgs/Biotac.h>#include <sr_robot_msgs/BiotacAll.h>#include "../shadowlibs/prettyprint.hpp"#include "../shadowlibs/shadow_planning_options.hpp"#include <Eigen/Dense>#include <Eigen/Geometry>#include <algorithm>#include <boost/scoped_ptr.hpp>#include <cmath>#include <functional>#include <future>#include <iostream>#include <map>#include <mutex>#include <string>#include <thread>#include <time.h>#include <tuple>
1.8.11