how to call the IK function

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Hey all,

I am new with ROS, I am trying to write a program for trajectory planning.

Initially I wrote my code in Matlab and it works perfectly, but now that I have to validate it in the robot I am struggling with C++ and ROS.

I have a quintic polynomial for the trajectory and I need the initial (current) and final pose and joint angles values in the polynomial. The polynomial would give me the intermediate angles values between initial and final angle positions.

My question is: how do I call the IK function to find the initial and final angles positions. I guess my brain still thinks in Matlab code, I've been struggling with this for a week.

The IK code is already written by another user.