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planning_models::KinematicModel::LinkModel Class Reference

A link from the robot. Contains the constant transform applied to the link and its geometry. More...

#include <kinematic_model.h>

List of all members.

Public Member Functions

const std::vector
< AttachedBodyModel * > & 
getAttachedBodyModels () const
const std::vector< JointModel * > & getChildJointModels () const
const btTransform & getCollisionOriginTransform () const
const btTransform & getJointOriginTransform () const
const shapes::ShapegetLinkShape () const
const std::string & getName () const
const JointModelgetParentJointModel () const
 LinkModel (const LinkModel *link_model)
 LinkModel (const KinematicModel *kinematic_model)
 ~LinkModel (void)

Private Member Functions

void addAttachedBodyModel (AttachedBodyModel *attached_body_model)
void clearAttachedBodyModels ()
 Removes all attached body models from this link, requiring an exclusive lock.
void clearLinkAttachedBodyModel (const std::string &att_name)
void replaceAttachedBodyModels (std::vector< AttachedBodyModel * > &attached_body_vector)
 Removes all attached body models from this link, and replaces them with the supplied vector, requiring an exclusive lock.

Private Attributes

std::vector< AttachedBodyModel * > attached_body_models_
 Attached bodies.
std::vector< JointModel * > child_joint_models_
 List of descending joints (each connects to a child link).
btTransform collision_origin_transform_
 The constant transform applied to the collision geometry of the link (local).
btTransform joint_origin_transform_
 The constant transform applied to the link (local).
const KinematicModelkinematic_model_
 KinematicState point for accessing locks.
std::string name_
 Name of the link.
JointModelparent_joint_model_
 JointModel that connects this link to the parent link.
shapes::Shapeshape_
 The geometry of the link.

Friends

class KinematicModel

Detailed Description

A link from the robot. Contains the constant transform applied to the link and its geometry.

Definition at line 336 of file kinematic_model.h.


Constructor & Destructor Documentation

planning_models::KinematicModel::LinkModel::LinkModel ( const KinematicModel kinematic_model  ) 

Definition at line 1106 of file kinematic_model.cpp.

planning_models::KinematicModel::LinkModel::LinkModel ( const LinkModel link_model  ) 

Definition at line 1115 of file kinematic_model.cpp.

planning_models::KinematicModel::LinkModel::~LinkModel ( void   ) 

Definition at line 1141 of file kinematic_model.cpp.


Member Function Documentation

void planning_models::KinematicModel::LinkModel::addAttachedBodyModel ( AttachedBodyModel attached_body_model  )  [private]

Definition at line 1182 of file kinematic_model.cpp.

void planning_models::KinematicModel::LinkModel::clearAttachedBodyModels (  )  [private]

Removes all attached body models from this link, requiring an exclusive lock.

Definition at line 1151 of file kinematic_model.cpp.

void planning_models::KinematicModel::LinkModel::clearLinkAttachedBodyModel ( const std::string &  att_name  )  [private]

Definition at line 1169 of file kinematic_model.cpp.

const std::vector<AttachedBodyModel*>& planning_models::KinematicModel::LinkModel::getAttachedBodyModels (  )  const [inline]

Definition at line 371 of file kinematic_model.h.

const std::vector<JointModel*>& planning_models::KinematicModel::LinkModel::getChildJointModels (  )  const [inline]

Definition at line 355 of file kinematic_model.h.

const btTransform& planning_models::KinematicModel::LinkModel::getCollisionOriginTransform (  )  const [inline]

Definition at line 363 of file kinematic_model.h.

const btTransform& planning_models::KinematicModel::LinkModel::getJointOriginTransform (  )  const [inline]

Definition at line 359 of file kinematic_model.h.

const shapes::Shape* planning_models::KinematicModel::LinkModel::getLinkShape (  )  const [inline]

Definition at line 367 of file kinematic_model.h.

const std::string& planning_models::KinematicModel::LinkModel::getName ( void   )  const [inline]

Definition at line 347 of file kinematic_model.h.

const JointModel* planning_models::KinematicModel::LinkModel::getParentJointModel (  )  const [inline]

Definition at line 351 of file kinematic_model.h.

void planning_models::KinematicModel::LinkModel::replaceAttachedBodyModels ( std::vector< AttachedBodyModel * > &  attached_body_vector  )  [private]

Removes all attached body models from this link, and replaces them with the supplied vector, requiring an exclusive lock.

Definition at line 1159 of file kinematic_model.cpp.


Friends And Related Function Documentation

friend class KinematicModel [friend]

Definition at line 338 of file kinematic_model.h.


Member Data Documentation

Attached bodies.

Definition at line 411 of file kinematic_model.h.

List of descending joints (each connects to a child link).

Definition at line 399 of file kinematic_model.h.

The constant transform applied to the collision geometry of the link (local).

Definition at line 405 of file kinematic_model.h.

The constant transform applied to the link (local).

Definition at line 402 of file kinematic_model.h.

KinematicState point for accessing locks.

Definition at line 393 of file kinematic_model.h.

Name of the link.

Definition at line 390 of file kinematic_model.h.

JointModel that connects this link to the parent link.

Definition at line 396 of file kinematic_model.h.

The geometry of the link.

Definition at line 408 of file kinematic_model.h.


The documentation for this class was generated from the following files:
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planning_models
Author(s): Ioan Sucan/isucan@willowgarage.com
autogenerated on Fri Mar 1 14:16:23 2013