#include <KinematicChain.h>

Inheritance diagram for KinematicChain:

Public Member Functions
std::map< std::string, double >	getFullJointMap ()
std::vector< std::string >	getJointName ()
std::vector< double >	getJointPosition ()
int	getNumberOfJoints ()
int	getNumberOfLinks ()
	KinematicChain (int nlinks, int njoints)
void	setJointPosition (double *q, int n)
void	setJointPosition (std::vector< double > &q, std::vector< std::string > names=std::vector< std::string >())
void	setJointVelocity (double *qdot, int n)
void	setJointVelocity (std::vector< double > &qdot, std::vector< std::string > names=std::vector< std::string >())
	~KinematicChain ()
Public Attributes
osg::ref_ptr < osg::MatrixTransform >	baseTransform
	pointer to the first node in the graph (base tranform)
std::vector< osg::ref_ptr < osg::MatrixTransform > >	joints
	pointers to transforms between links
std::vector< int >	jointType
ros::WallTime	last
	Bullet physics pointer to query.
std::vector< std::pair< double, double > >	limits
	Limits for joints by default -PI , PI.
std::vector< osg::ref_ptr < osg::Node > >	link
	pointers to link models
std::vector< MimicArm >	mimic
std::vector< std::string >	names
BulletPhysics *	physics
std::vector< double >	q
	Joint values.
std::vector< double >	qLastSafe
	Last joint values not colliding.
int	started
std::vector< osg::ref_ptr < osg::MatrixTransform > >	zerojoints
	pointers to original (zero) transforms between links
Protected Member Functions
virtual void	updateJoints (std::vector< double > &q)=0
	Implemented by childs for joint position update.

Detailed Description

Abstract Kinematic Chain class for holding articulated 3D Models

Definition at line 33 of file KinematicChain.h.

Constructor & Destructor Documentation

KinematicChain::KinematicChain	(	int	nlinks,
		int	njoints
	)

Definition at line 17 of file KinematicChain.cpp.

KinematicChain::~KinematicChain ( )

Definition at line 191 of file KinematicChain.cpp.

Member Function Documentation

std::map< std::string, double > KinematicChain::getFullJointMap ( )

Definition at line 178 of file KinematicChain.cpp.

std::vector< std::string > KinematicChain::getJointName ( )

Definition at line 167 of file KinematicChain.cpp.

std::vector< double > KinematicChain::getJointPosition ( )

Definition at line 156 of file KinematicChain.cpp.

int KinematicChain::getNumberOfJoints ( ) [inline]

Get the number of joints

Definition at line 72 of file KinematicChain.h.

int KinematicChain::getNumberOfLinks ( ) [inline]

Get the number of links

Definition at line 67 of file KinematicChain.h.

void KinematicChain::setJointPosition	(	double *	q,
		int	n
	)

Definition at line 29 of file KinematicChain.cpp.

void KinematicChain::setJointPosition	(	std::vector< double > &	q,
		std::vector< std::string >	names = `std::vector<std::string>()`
	)

Definition at line 100 of file KinematicChain.cpp.

void KinematicChain::setJointVelocity	(	double *	qdot,
		int	n
	)

Definition at line 63 of file KinematicChain.cpp.

void KinematicChain::setJointVelocity	(	std::vector< double > &	qdot,
		std::vector< std::string >	names = `std::vector<std::string>()`
	)

Definition at line 128 of file KinematicChain.cpp.

virtual void KinematicChain::updateJoints ( std::vector< double > & q ) [protected, pure virtual]

Implemented by childs for joint position update.

Implemented in URDFRobot.

Member Data Documentation

osg::ref_ptr<osg::MatrixTransform> KinematicChain::baseTransform

pointer to the first node in the graph (base tranform)

Definition at line 45 of file KinematicChain.h.

std::vector<osg::ref_ptr<osg::MatrixTransform> > KinematicChain::joints

pointers to transforms between links

Definition at line 43 of file KinematicChain.h.

std::vector<int> KinematicChain::jointType

Definition at line 42 of file KinematicChain.h.

ros::WallTime KinematicChain::last

Bullet physics pointer to query.

Definition at line 53 of file KinematicChain.h.

std::vector<std::pair<double, double> > KinematicChain::limits

Limits for joints by default -PI , PI.

Definition at line 38 of file KinematicChain.h.

std::vector<osg::ref_ptr<osg::Node> > KinematicChain::link

pointers to link models

Definition at line 36 of file KinematicChain.h.

std::vector<MimicArm> KinematicChain::mimic

Definition at line 41 of file KinematicChain.h.

std::vector<std::string> KinematicChain::names

Definition at line 39 of file KinematicChain.h.

BulletPhysics* KinematicChain::physics

Definition at line 51 of file KinematicChain.h.

std::vector<double> KinematicChain::q

Joint values.

Definition at line 37 of file KinematicChain.h.

std::vector<double> KinematicChain::qLastSafe

Last joint values not colliding.

Definition at line 50 of file KinematicChain.h.

int KinematicChain::started

Definition at line 54 of file KinematicChain.h.

std::vector<osg::ref_ptr<osg::MatrixTransform> > KinematicChain::zerojoints

pointers to original (zero) transforms between links

Definition at line 44 of file KinematicChain.h.

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

Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation