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hrl_kinematics::Kinematics Class Reference

#include <Kinematics.h>

Inheritance diagram for hrl_kinematics::Kinematics:
Inheritance graph

List of all members.


class  InitFailed

Public Types


Public Member Functions

void computeCOM (const JointMap &joint_positions, tf::Point &com, double &mass, tf::Transform &tf_right_foot, tf::Transform &tf_left_foot)
 Kinematics ()
virtual ~Kinematics ()

Protected Member Functions

void addChildren (const KDL::SegmentMap::const_iterator segment)
void computeCOMRecurs (const KDL::SegmentMap::const_iterator &currentSeg, const std::map< std::string, double > &joint_positions, const KDL::Frame &tf, KDL::Frame &tf_right_foot, KDL::Frame &tf_left_foot, double &m, KDL::Vector &cog)
void createCoGMarker (const std::string &ns, const std::string &frame_id, double radius, const KDL::Vector &cog, visualization_msgs::Marker &marker) const
bool loadModel (const std::string xml)

Protected Attributes

KDL::Chain kdl_chain_left_
KDL::Chain kdl_chain_right_
KDL::Tree kdl_tree_
std::string lfoot_link_name_
ros::NodeHandle nh_
ros::NodeHandle nh_private_
unsigned int num_joints_
std::string rfoot_link_name_
std::string root_link_name_
std::map< std::string,
urdf::Model urdf_model_

Detailed Description

Class to compute the center of mass while recursively traversing a kinematic tree of a robot (from URDF)

Definition at line 68 of file Kinematics.h.

Member Enumeration Documentation


Definition at line 70 of file Kinematics.h.

Constructor & Destructor Documentation

Definition at line 41 of file Kinematics.cpp.

Definition at line 66 of file Kinematics.cpp.

Member Function Documentation

void hrl_kinematics::Kinematics::addChildren ( const KDL::SegmentMap::const_iterator  segment) [protected]

Definition at line 100 of file Kinematics.cpp.

void hrl_kinematics::Kinematics::computeCOM ( const JointMap joint_positions,
tf::Point com,
double &  mass,
tf::Transform tf_right_foot,
tf::Transform tf_left_foot 

Computes the center of mass of the given robot structure and joint configuration. Will also return the 6D transformations to the feet while traversing the robot tree

[in]joint_positionsangles of all joints
[out]comthe computed center of mass in the root coordinate frame (base_link)
[out]masstotal mass of all joints
[out]tf_right_footreturned transformation from body reference frame to right foot
[out]tf_left_footreturned transformation from body reference frame to left foot

Definition at line 186 of file Kinematics.cpp.

void hrl_kinematics::Kinematics::computeCOMRecurs ( const KDL::SegmentMap::const_iterator &  currentSeg,
const std::map< std::string, double > &  joint_positions,
const KDL::Frame tf,
KDL::Frame tf_right_foot,
KDL::Frame tf_left_foot,
double &  m,
KDL::Vector cog 
) [protected]

Definition at line 137 of file Kinematics.cpp.

void hrl_kinematics::Kinematics::createCoGMarker ( const std::string &  ns,
const std::string &  frame_id,
double  radius,
const KDL::Vector cog,
visualization_msgs::Marker &  marker 
) const [protected]

Definition at line 122 of file Kinematics.cpp.

bool hrl_kinematics::Kinematics::loadModel ( const std::string  xml) [protected]

Definition at line 70 of file Kinematics.cpp.

Member Data Documentation

Definition at line 105 of file Kinematics.h.

Definition at line 104 of file Kinematics.h.

Definition at line 103 of file Kinematics.h.

Definition at line 110 of file Kinematics.h.

Definition at line 107 of file Kinematics.h.

Definition at line 107 of file Kinematics.h.

unsigned int hrl_kinematics::Kinematics::num_joints_ [protected]

Definition at line 112 of file Kinematics.h.

Definition at line 109 of file Kinematics.h.

Definition at line 108 of file Kinematics.h.

Definition at line 113 of file Kinematics.h.

Definition at line 102 of file Kinematics.h.

The documentation for this class was generated from the following files:
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Properties Friends

Author(s): Armin Hornung
autogenerated on Tue Oct 15 2013 10:05:11