Public Member Functions |
| template<class Vec > |
| void | addEfforts (const Vec &) |
| | add to the commanded joint efforts of the tree's joints from any type that implements size() and [] lookup
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| void | addEfforts (const KDL::JntArray &) |
| | add to the commanded joint efforts of the tree's joints from a KDL::JntArray
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| bool | allCalibrated () const |
| | returns true, if all the joints in the tree are calibrated
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| template<class Vec > |
| void | getEfforts (Vec &) const |
| | get the measured joint efforts of the tree's joints as any type with size() and [] lookup
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| void | getEfforts (KDL::JntArray &) const |
| | get the measured joint efforts of the tree's joints as a KDL::JntArray
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| JointState * | getJoint (unsigned int) const |
| | returns a pointer to the joint state of a joint in the list of the tree's actuated joints (index starts at 0)
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| template<class Vec > |
| void | getPositions (Vec &) const |
| | get the position of the joints of the tree as any type with size() and [] lookup
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| void | getPositions (KDL::JntArray &) const |
| | get the position of the joints of the tree as a KDL::JntArray
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| template<class Vec > |
| void | getVelocities (Vec &) const |
| | get the velocities of the joints of the tree as any type with size() and [] lookup
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| void | getVelocities (KDL::JntArrayVel &) const |
| | get the velocities of the joints of the tree as a KDL::JntArrayVel (fills in the positions, too)
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| bool | init (RobotState *robot_state) |
| | initializes the tree object The initializer's most important functionality is to create a vector of joints. This vector is ordered according to the joint's number given by KDL's tree class, which is used by the kdl_parser to create a KDL::Tree from the robot description. This structure is what a KDL tree solver expects. The vector of joints can later be used to read the joints' positions or to send efforts to them.
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| template<class Vec > |
| void | setEfforts (const Vec &) |
| | set the commanded joint efforts of the tree's joints from any type that implements size() and [] lookup
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| void | setEfforts (const KDL::JntArray &) |
| | set the commanded joint efforts of the tree's joints from a KDL::JntArray
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| int | size () const |
| | returns the number of actuated joints in the tree
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| void | toKdl (KDL::Tree &) const |
| | get a KDL::Tree object that respresents the tree
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| | Tree () |
| | ~Tree () |
Private Attributes |
| std::vector< JointState * > | joints_ |
| | a vector of pointers to joint states; includes only the ones that can be actuated (not fixed joints)
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| KDL::Tree | kdl_tree_ |
