Public Member Functions | Private Member Functions | Private Attributes
TreeChain Class Reference

#include <TreeChain.h>

List of all members.

Public Member Functions

Eigen::Matrix< double, 7, 1 > fk (const std::vector< double > &treeJnts)
Eigen::Matrix< double, 7, 1 > fk ()
Eigen::Matrix< double, 6, 1 > fk_vel ()
const KDL::JacobiangetJ () const
void init (const KDL::Tree &tree, const std::string &root, const std::string &tip, std::vector< double > &Kgains, std::vector< double > &Dgains)
const KDL::JntArray & moveCart (Eigen::Matrix< double, 7, 1 > &cartCmd, const std::vector< double > &treeJnts, const std::vector< double > &treeJntsVel)
const KDL::JntArray & moveCart (KDL::Twist &cartVelCmd, const std::vector< double > &treeJnts, const std::vector< double > &treeJntsVel)
const KDL::JntArray & moveCart (Eigen::Matrix< double, 7, 1 > &cartCmd, KDL::Twist &cartVelCmd, const std::vector< double > &treeJnts, const std::vector< double > &treeJntsVel)
int size () const
 TreeChain ()
int treeIdx (int chainIdx) const

Private Member Functions

void update (const std::vector< double > &treeJnts, const std::vector< double > &treeJntsVel)

Private Attributes

KDL::Chain chain
std::vector< int > chain2Tree
KDL::JntArray full_result
KDL::Jacobian fullJ
KDL::Jacobian J
int jnt_size
KDL::JntArray jnts
KDL::JntArrayVel jntsVel
std::vector< double > * pD
std::vector< double > * pK
KDL::JntArray result
int tree_size

Detailed Description

calculates torque commands (using jacobian transpose ) for a chain and then returns results applicable for the full tree

Definition at line 38 of file TreeChain.h.


Constructor & Destructor Documentation

TreeChain::TreeChain ( ) [inline]

Definition at line 78 of file TreeChain.h.


Member Function Documentation

Eigen::Matrix<double,7,1> TreeChain::fk ( const std::vector< double > &  treeJnts) [inline]

Definition at line 208 of file TreeChain.h.

Eigen::Matrix<double,7, 1> TreeChain::fk ( ) [inline]

Definition at line 214 of file TreeChain.h.

Eigen::Matrix<double,6, 1> TreeChain::fk_vel ( ) [inline]

trouble when jnts are not between -pi, pi?

Definition at line 232 of file TreeChain.h.

const KDL::Jacobian& TreeChain::getJ ( ) const [inline]

Definition at line 77 of file TreeChain.h.

void TreeChain::init ( const KDL::Tree tree,
const std::string &  root,
const std::string &  tip,
std::vector< double > &  Kgains,
std::vector< double > &  Dgains 
) [inline]

Definition at line 79 of file TreeChain.h.

const KDL::JntArray& TreeChain::moveCart ( Eigen::Matrix< double, 7, 1 > &  cartCmd,
const std::vector< double > &  treeJnts,
const std::vector< double > &  treeJntsVel 
) [inline]

Definition at line 131 of file TreeChain.h.

const KDL::JntArray& TreeChain::moveCart ( KDL::Twist cartVelCmd,
const std::vector< double > &  treeJnts,
const std::vector< double > &  treeJntsVel 
) [inline]

Definition at line 160 of file TreeChain.h.

const KDL::JntArray& TreeChain::moveCart ( Eigen::Matrix< double, 7, 1 > &  cartCmd,
KDL::Twist cartVelCmd,
const std::vector< double > &  treeJnts,
const std::vector< double > &  treeJntsVel 
) [inline]

Definition at line 178 of file TreeChain.h.

int TreeChain::size ( void  ) const [inline]

Definition at line 72 of file TreeChain.h.

int TreeChain::treeIdx ( int  chainIdx) const [inline]

Definition at line 73 of file TreeChain.h.

void TreeChain::update ( const std::vector< double > &  treeJnts,
const std::vector< double > &  treeJntsVel 
) [inline, private]

Definition at line 54 of file TreeChain.h.


Member Data Documentation

Definition at line 40 of file TreeChain.h.

std::vector<int> TreeChain::chain2Tree [private]

Definition at line 39 of file TreeChain.h.

KDL::JntArray TreeChain::full_result [private]

Definition at line 44 of file TreeChain.h.

Definition at line 46 of file TreeChain.h.

Definition at line 45 of file TreeChain.h.

int TreeChain::jnt_size [private]

Definition at line 51 of file TreeChain.h.

KDL::JntArray TreeChain::jnts [private]

Definition at line 41 of file TreeChain.h.

Definition at line 42 of file TreeChain.h.

std::vector<double>* TreeChain::pD [private]

Definition at line 49 of file TreeChain.h.

std::vector<double>* TreeChain::pK [private]

Definition at line 48 of file TreeChain.h.

KDL::JntArray TreeChain::result [private]

Definition at line 43 of file TreeChain.h.

int TreeChain::tree_size [private]

Definition at line 52 of file TreeChain.h.


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


r2_controllers_gazebo
Author(s): Stephen Hart
autogenerated on Mon Oct 6 2014 02:48:44