planning_models::KinematicState::LinkState Class Reference

#include <kinematic_state.h>

List of all members.

Public Member Functions
void	computeTransform (void)
	Recompute global_collision_body_transform and global_link_transform.
const std::vector < AttachedBodyState * > &	getAttachedBodyStateVector () const
const btTransform &	getGlobalCollisionBodyTransform () const
const btTransform &	getGlobalLinkTransform () const
const KinematicModel::LinkModel *	getLinkModel () const
const std::string &	getName () const
const JointState *	getParentJointState () const
const LinkState *	getParentLinkState () const
	LinkState (const KinematicModel::LinkModel *lm)
void	setParentJointState (const JointState *js)
void	setParentLinkState (const LinkState *ls)
void	updateAttachedBodies ()
void	updateGivenGlobalLinkTransform (const btTransform &transform)
	~LinkState ()
Private Attributes
std::vector< AttachedBodyState * >	attached_body_state_vector_
btTransform	global_collision_body_transform_
	The global transform for this link (computed by forward kinematics).
btTransform	global_link_transform_
	The global transform this link forwards (computed by forward kinematics).
const KinematicModel::LinkModel *	link_model_
const JointState *	parent_joint_state_
const LinkState *	parent_link_state_

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Detailed Description

Definition at line 149 of file kinematic_state.h.

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Constructor & Destructor Documentation

planning_models::KinematicState::LinkState::LinkState

(

const KinematicModel::LinkModel *

lm

)

Definition at line 512 of file kinematic_state.cpp.

planning_models::KinematicState::LinkState::~LinkState

(

)

Definition at line 527 of file kinematic_state.cpp.

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Member Function Documentation

void planning_models::KinematicState::LinkState::computeTransform

(

void

)

Recompute global_collision_body_transform and global_link_transform.

Definition at line 534 of file kinematic_state.cpp.

const std::vector<AttachedBodyState*>& planning_models::KinematicState::LinkState::getAttachedBodyStateVector

(

)

const [inline]

Definition at line 199 of file kinematic_state.h.

const btTransform& planning_models::KinematicState::LinkState::getGlobalCollisionBodyTransform

(

)

const [inline]

Definition at line 209 of file kinematic_state.h.

const btTransform& planning_models::KinematicState::LinkState::getGlobalLinkTransform

(

)

const [inline]

Definition at line 204 of file kinematic_state.h.

const KinematicModel::LinkModel* planning_models::KinematicState::LinkState::getLinkModel

(

)

const [inline]

Definition at line 184 of file kinematic_state.h.

const std::string& planning_models::KinematicState::LinkState::getName

(

void

)

const [inline]

Definition at line 156 of file kinematic_state.h.

const JointState* planning_models::KinematicState::LinkState::getParentJointState

(

)

const [inline]

Definition at line 189 of file kinematic_state.h.

const LinkState* planning_models::KinematicState::LinkState::getParentLinkState

(

)

const [inline]

Definition at line 194 of file kinematic_state.h.

void planning_models::KinematicState::LinkState::setParentJointState

(

const JointState *

js

)

[inline]

Definition at line 161 of file kinematic_state.h.

void planning_models::KinematicState::LinkState::setParentLinkState

(

const LinkState *

ls

)

[inline]

Definition at line 166 of file kinematic_state.h.

void planning_models::KinematicState::LinkState::updateAttachedBodies

(

)

Definition at line 543 of file kinematic_state.cpp.

void planning_models::KinematicState::LinkState::updateGivenGlobalLinkTransform

(

const btTransform &

transform

)

[inline]

Definition at line 171 of file kinematic_state.h.

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Member Data Documentation

std::vector<AttachedBodyState*> planning_models::KinematicState::LinkState::attached_body_state_vector_ [private]

Definition at line 222 of file kinematic_state.h.

btTransform planning_models::KinematicState::LinkState::global_collision_body_transform_ [private]

The global transform for this link (computed by forward kinematics).

Definition at line 228 of file kinematic_state.h.

btTransform planning_models::KinematicState::LinkState::global_link_transform_ [private]

The global transform this link forwards (computed by forward kinematics).

Definition at line 225 of file kinematic_state.h.

const KinematicModel::LinkModel* planning_models::KinematicState::LinkState::link_model_ [private]

Definition at line 216 of file kinematic_state.h.

const JointState* planning_models::KinematicState::LinkState::parent_joint_state_ [private]

Definition at line 218 of file kinematic_state.h.

const LinkState* planning_models::KinematicState::LinkState::parent_link_state_ [private]

Definition at line 220 of file kinematic_state.h.

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The documentation for this class was generated from the following files:

• kinematic_state.h
• kinematic_state.cpp