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add pre-commit to repo (#7)
add pre-commit
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‎.clang-format

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---
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Language: Cpp
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BasedOnStyle: Google
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ColumnLimit: 100
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AccessModifierOffset: -2
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AlignAfterOpenBracket: AlwaysBreak
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BreakBeforeBraces: Allman
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ConstructorInitializerIndentWidth: 0
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ContinuationIndentWidth: 2
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DerivePointerAlignment: false
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PointerAlignment: Middle
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ReflowComments: false
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IncludeBlocks: Preserve
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...

‎.pre-commit-config.yaml

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# To use:
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#
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# pre-commit run -a
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#
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# Or:
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#
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# pre-commit install # (runs every time you commit in git)
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#
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# To update this file:
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#
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# pre-commit autoupdate
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#
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# See https://github.com/pre-commit/pre-commit
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repos:
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# Standard hooks
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- repo: https://github.com/pre-commit/pre-commit-hooks
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rev: v4.1.0
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hooks:
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- id: check-added-large-files
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- id: check-ast
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- id: check-case-conflict
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- id: check-docstring-first
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- id: check-merge-conflict
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- id: check-symlinks
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- id: check-xml
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- id: check-yaml
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- id: debug-statements
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- id: end-of-file-fixer
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- id: mixed-line-ending
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- id: trailing-whitespace
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exclude_types: [rst]
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- id: fix-byte-order-marker
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# Python hooks
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- repo: https://github.com/asottile/pyupgrade
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rev: v2.31.1
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hooks:
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- id: pyupgrade
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args: [--py36-plus]
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# PEP 257
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- repo: https://github.com/FalconSocial/pre-commit-mirrors-pep257
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rev: v0.3.3
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hooks:
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- id: pep257
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args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
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- repo: https://github.com/pycqa/flake8
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rev: 4.0.1
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hooks:
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- id: flake8
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args: ["--extend-ignore=E501"]
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# CPP hooks
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- repo: local
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hooks:
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- id: clang-format
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name: clang-format
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description: Format files with ClangFormat.
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entry: clang-format-12
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language: system
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files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
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args: ['-fallback-style=none', '-i']
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- repo: local
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hooks:
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- id: ament_cppcheck
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name: ament_cppcheck
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description: Static code analysis of C/C++ files.
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stages: [commit]
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entry: ament_cppcheck
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language: system
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files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
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# Maybe use https://github.com/cpplint/cpplint instead
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- repo: local
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hooks:
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- id: ament_cpplint
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name: ament_cpplint
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description: Static code analysis of C/C++ files.
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stages: [commit]
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entry: ament_cpplint
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language: system
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files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
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args: ["--linelength=100", "--filter=-whitespace/newline"]
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# Cmake hooks
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- repo: local
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hooks:
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- id: ament_lint_cmake
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name: ament_lint_cmake
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description: Check format of CMakeLists.txt files.
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stages: [commit]
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entry: ament_lint_cmake
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language: system
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files: CMakeLists\.txt$
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# Copyright
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- repo: local
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hooks:
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- id: ament_copyright
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name: ament_copyright
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description: Check if copyright notice is available in all files.
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stages: [commit]
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entry: ament_copyright
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language: system
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# Docs - RestructuredText hooks
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- repo: https://github.com/PyCQA/doc8
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rev: 0.10.1
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hooks:
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- id: doc8
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args: ['--max-line-length=100', '--ignore=D001']
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exclude: CHANGELOG\.rst$
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- repo: https://github.com/pre-commit/pygrep-hooks
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rev: v1.9.0
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hooks:
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- id: rst-backticks
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exclude: CHANGELOG\.rst$
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- id: rst-directive-colons
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- id: rst-inline-touching-normal
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# Spellcheck in comments and docs
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# skipping of *.svg files is not working...
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- repo: https://github.com/codespell-project/codespell
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rev: v2.1.0
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hooks:
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- id: codespell
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args: ['--write-changes']
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exclude: CHANGELOG\.rst|\.(svg|pyc)$

‎README.md

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# kinematics_interface
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This is a ROS 2 package for using C++ kinematics frameworks in the context of ROS 2 control. A kinematics interface is designed to allow ROS 2 controllers to control robots in Cartesian space. This package also contains a basic implementation of the interface using KDL.
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This is a ROS 2 package for using C++ kinematics frameworks in the context of ROS 2 control. A kinematics interface is designed to allow ROS 2 controllers to control robots in Cartesian space. This package also contains a basic implementation of the interface using KDL.

‎kinematics_interface/CMakeLists.txt

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include
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)
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ament_package()
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ament_package()

‎kinematics_interface/include/kinematics_interface/kinematics_interface_base.hpp

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2020

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#include <rclcpp_lifecycle/lifecycle_node.hpp>
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namespace kinematics_interface {
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class KinematicsBaseClass {
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public:
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KinematicsBaseClass() = default;
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namespace kinematics_interface
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{
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class KinematicsBaseClass
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{
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public:
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KinematicsBaseClass() = default;
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virtual ~KinematicsBaseClass() = default;
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virtual ~KinematicsBaseClass() = default;
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/**
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/**
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* \brief Create an interface object which takes calculate forward and inverse kinematics
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*/
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virtual bool
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initialize(std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node, const std::string &end_effector_name) = 0;
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virtual bool initialize(
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std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node,
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const std::string & end_effector_name) = 0;
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/**
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/**
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* \brief Convert Cartesian delta-x to joint delta-theta, using the Jacobian.
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* \param[in] joint_pos joint positions of the robot in radians
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* \param[in] delta_x_vec input Cartesian deltas (x, y, z, wx, wy, wz)
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* \param[out] delta_theta_vec output vector with joint states
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* \return true if successful
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*/
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virtual bool
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convert_cartesian_deltas_to_joint_deltas(const std::vector<double> &joint_pos,
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const std::vector<double> &delta_x_vec,
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const std::string &link_name,
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std::vector<double> &delta_theta_vec) = 0;
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virtual bool convert_cartesian_deltas_to_joint_deltas(
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const std::vector<double> & joint_pos, const std::vector<double> & delta_x_vec,
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const std::string & link_name, std::vector<double> & delta_theta_vec) = 0;
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/**
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/**
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* \brief Convert joint delta-theta to Cartesian delta-x.
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* \param joint_pos joint positions of the robot in radians
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* \param joint_pos joint positions of the robot in radiansgit checkout
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* \param[in] delta_theta_vec vector with joint states
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* \param[out] delta_x_vec Cartesian deltas (x, y, z, wx, wy, wz)
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* \return true if successful
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*/
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virtual bool
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convert_joint_deltas_to_cartesian_deltas(const std::vector<double> &joint_pos,
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const std::vector<double> &delta_theta_vec,
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const std::string &link_name,
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std::vector<double> &delta_x_vec) = 0;
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virtual bool convert_joint_deltas_to_cartesian_deltas(
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const std::vector<double> & joint_pos, const std::vector<double> & delta_theta_vec,
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const std::string & link_name, std::vector<double> & delta_x_vec) = 0;
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/**
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/**
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* \brief Calculates the joint transform for a specified link using provided joint positions.
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* \param[in] joint_pos joint positions of the robot in radians
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* \param[in] link_name the name of the link to find the transform for
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* \param[out] transform_vec transformation matrix of the specified link in column major format.
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* \return true if successful
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*/
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virtual bool
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calculate_link_transform(const std::vector<double> &joint_pos, const std::string &link_name,
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std::vector<double> &transform_vec) = 0;
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virtual bool calculate_link_transform(
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const std::vector<double> & joint_pos, const std::string & link_name,
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std::vector<double> & transform_vec) = 0;
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/**
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/**
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* \brief Calculates the joint transform for a specified link using provided joint positions.
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* \param[in] joint_pos joint positions of the robot in radians
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* \param[in] link_name the name of the link to find the transform for
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* \param[out] jacobian Jacobian matrix of the specified link in column major format.
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* \return true if successful
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*/
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virtual bool
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calculate_jacobian(const std::vector<double> &joint_pos, const std::string &link_name,
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std::vector<double> &jacobian) = 0;
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};
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virtual bool calculate_jacobian(
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const std::vector<double> & joint_pos, const std::string & link_name,
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std::vector<double> & jacobian) = 0;
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};
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} // namespace kinematics_interface
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