Public Member Functions |
| template<class Vec > |
| void | addEfforts (const Vec &v) |
| | Adds efforts from any type that implements size() and [] lookup.
|
| void | addEfforts (KDL::JntArray &) |
| | set the commanded joint efforts of the chain as a kdl jnt array
|
| bool | allCalibrated () |
| | returns true if all the joints in the chain are calibrated
|
| | Chain () |
| void | getEfforts (KDL::JntArray &) |
| | get the measured joint efforts of the chain as a kdl jnt array
|
| void | getEfforts (std::vector< double > &) |
| | get the measured joint efforts of the chain as a std vector
|
| JointState * | getJoint (unsigned int actuated_joint_i) |
| | get a joint state of an actuated joint of the chain.
|
| template<class Vec > |
| void | getPositions (Vec &v) |
| | gets the joint positions of the chain as any type with size() and []
|
| void | getPositions (KDL::JntArray &) |
| | get the joint positions of the chain as a kdl jnt array
|
| void | getPositions (std::vector< double > &) |
| | get the joint positions of the chain as a std vector
|
| template<class Vec > |
| void | getVelocities (Vec &v) |
| | gets the joint velocities of the chain as any type with size() and []
|
| void | getVelocities (KDL::JntArrayVel &) |
| | get the joint velocities and positoin of the chain as a kdl jnt array vel. Fills in the positions too.
|
| void | getVelocities (std::vector< double > &) |
| | get the joint velocities of the chain as a std vector
|
| bool | init (RobotState *robot_state, const std::string &root, const std::string &tip) |
| | initialize the chain object
|
| void | setEfforts (KDL::JntArray &) |
| | set the commanded joint efforts of the chain as a std vector
|
| int | size () const |
| | Returns the number of actuated joints in the chain.
|
| void | toKDL (KDL::Chain &chain) |
| | get a kdl chain object that respresents the chain from root to tip
|
| | ~Chain () |
Private Attributes |
| std::vector< JointState * > | joints_ |
| KDL::Chain | kdl_chain_ |
| pr2_mechanism_model::RobotState * | robot_state_ |
