The state corresponding to a link. More...
#include <link_state.h>
Public Member Functions | |
| void | computeGeometryTransforms () |
| void | computeTransform () |
| Recompute global_collision_body_transform and global_link_transform. | |
| void | computeTransformBackward (const Eigen::Affine3d &transform) |
| void | computeTransformForward (const Eigen::Affine3d &transform) |
| void | getAttachedBodies (std::vector< const AttachedBody * > &attached_bodies) const |
| Get all the bodies attached to this link. | |
| const AttachedBody * | getAttachedBody (const std::string &id) const |
| Get the attached body with name id. | |
| const Eigen::Affine3d & | getGlobalCollisionBodyTransform () const |
| Get the global transform for the collision body associated with this link. | |
| const Eigen::Affine3d & | getGlobalLinkTransform () const |
| Get the global transform for this link. | |
| const robot_model::LinkModel * | getLinkModel () const |
| Get the link model corresponding to this state. | |
| const std::string & | getName () const |
| Get the name of link corresponding to this state. | |
| const JointState * | getParentJointState () const |
| Get the joint state corresponding to the parent joint of this link. | |
| const LinkState * | getParentLinkState () const |
| Get the link state corresponding to the parent link of this link. | |
| const RobotState * | getRobotState () const |
| Get the kinematic state that this link state is part of. | |
| RobotState * | getRobotState () |
| Get the kinematic state that this link state is part of. | |
| bool | hasAttachedBody (const std::string &id) const |
| Check if an attached body named id exists in this group. | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | LinkState (RobotState *state, const robot_model::LinkModel *lm) |
| Constructor. | |
| void | updateAttachedBodies () |
| Update all attached bodies given set link transforms. | |
| ~LinkState () | |
Private Member Functions | |
| void | computeTransformBackward (const LinkState *child_link) |
| void | computeTransformForward (const LinkState *parent_link) |
Private Attributes | |
| std::map< std::string, AttachedBody * > | attached_body_map_ |
| Eigen::Affine3d | global_collision_body_transform_ |
| The global transform for this link (computed by forward kinematics) | |
| Eigen::Affine3d | global_link_transform_ |
| The global transform this link forwards (computed by forward kinematics) | |
| const robot_model::LinkModel * | link_model_ |
| JointState * | parent_joint_state_ |
| LinkState * | parent_link_state_ |
| RobotState * | robot_state_ |
| The robot state this link is part of. | |
Friends | |
| class | RobotState |
The state corresponding to a link.
Definition at line 51 of file link_state.h.
| robot_state::LinkState::LinkState | ( | RobotState * | state, |
| const robot_model::LinkModel * | lm | ||
| ) |
Constructor.
Definition at line 40 of file link_state.cpp.
Definition at line 47 of file link_state.cpp.
Definition at line 110 of file link_state.cpp.
Recompute global_collision_body_transform and global_link_transform.
Definition at line 116 of file link_state.cpp.
| void robot_state::LinkState::computeTransformBackward | ( | const Eigen::Affine3d & | transform | ) |
Definition at line 95 of file link_state.cpp.
| void robot_state::LinkState::computeTransformBackward | ( | const LinkState * | child_link | ) | [private] |
Definition at line 75 of file link_state.cpp.
| void robot_state::LinkState::computeTransformForward | ( | const Eigen::Affine3d & | transform | ) |
Definition at line 51 of file link_state.cpp.
| void robot_state::LinkState::computeTransformForward | ( | const LinkState * | parent_link | ) | [private] |
Definition at line 63 of file link_state.cpp.
| void robot_state::LinkState::getAttachedBodies | ( | std::vector< const AttachedBody * > & | attached_bodies | ) | const |
Get all the bodies attached to this link.
Definition at line 146 of file link_state.cpp.
| const robot_state::AttachedBody * robot_state::LinkState::getAttachedBody | ( | const std::string & | id | ) | const |
Get the attached body with name id.
Definition at line 134 of file link_state.cpp.
| const Eigen::Affine3d& robot_state::LinkState::getGlobalCollisionBodyTransform | ( | ) | const [inline] |
Get the global transform for the collision body associated with this link.
Definition at line 126 of file link_state.h.
| const Eigen::Affine3d& robot_state::LinkState::getGlobalLinkTransform | ( | ) | const [inline] |
Get the global transform for this link.
Definition at line 120 of file link_state.h.
| const robot_model::LinkModel* robot_state::LinkState::getLinkModel | ( | ) | const [inline] |
Get the link model corresponding to this state.
Definition at line 93 of file link_state.h.
| const std::string& robot_state::LinkState::getName | ( | ) | const [inline] |
Get the name of link corresponding to this state.
Definition at line 64 of file link_state.h.
| const JointState* robot_state::LinkState::getParentJointState | ( | ) | const [inline] |
Get the joint state corresponding to the parent joint of this link.
Definition at line 99 of file link_state.h.
| const LinkState* robot_state::LinkState::getParentLinkState | ( | ) | const [inline] |
Get the link state corresponding to the parent link of this link.
Definition at line 105 of file link_state.h.
| const RobotState* robot_state::LinkState::getRobotState | ( | ) | const [inline] |
Get the kinematic state that this link state is part of.
Definition at line 70 of file link_state.h.
| RobotState* robot_state::LinkState::getRobotState | ( | ) | [inline] |
Get the kinematic state that this link state is part of.
Definition at line 76 of file link_state.h.
| bool robot_state::LinkState::hasAttachedBody | ( | const std::string & | id | ) | const |
Check if an attached body named id exists in this group.
Definition at line 129 of file link_state.cpp.
Update all attached bodies given set link transforms.
Definition at line 123 of file link_state.cpp.
friend class RobotState [friend] |
Definition at line 53 of file link_state.h.
std::map<std::string, AttachedBody*> robot_state::LinkState::attached_body_map_ [private] |
Definition at line 145 of file link_state.h.
Eigen::Affine3d robot_state::LinkState::global_collision_body_transform_ [private] |
The global transform for this link (computed by forward kinematics)
Definition at line 151 of file link_state.h.
Eigen::Affine3d robot_state::LinkState::global_link_transform_ [private] |
The global transform this link forwards (computed by forward kinematics)
Definition at line 148 of file link_state.h.
const robot_model::LinkModel* robot_state::LinkState::link_model_ [private] |
Definition at line 139 of file link_state.h.
Definition at line 141 of file link_state.h.
Definition at line 143 of file link_state.h.
RobotState* robot_state::LinkState::robot_state_ [private] |
The robot state this link is part of.
Definition at line 137 of file link_state.h.