#include <Kinematics.h>

Inheritance diagram for hrl_kinematics::Kinematics:

Classes
class	InitFailed
Public Types
enum	FootSupport { SUPPORT_DOUBLE, SUPPORT_SINGLE_RIGHT, SUPPORT_SINGLE_LEFT }
Public Member Functions
void	computeCOM (const JointMap &joint_positions, tf::Point &com, double &mass, tf::Transform &tf_right_foot, tf::Transform &tf_left_foot)
void	initialize ()
	Kinematics (std::string root_link_name="base_link", std::string rfoot_link_name="r_sole", std::string lfoot_link_name="l_sole", const boost::shared_ptr< const urdf::ModelInterface > &urdf_model=boost::shared_ptr< const urdf::ModelInterface >())
	Constructor.
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	loadKDLModel ()
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, robot_state_publisher::SegmentPair >	segments_
boost::shared_ptr< const urdf::ModelInterface >	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 65 of file Kinematics.h.

Member Enumeration Documentation

enum hrl_kinematics::Kinematics::FootSupport

Enumerator:

SUPPORT_DOUBLE
SUPPORT_SINGLE_RIGHT
SUPPORT_SINGLE_LEFT

Definition at line 67 of file Kinematics.h.

Constructor & Destructor Documentation

hrl_kinematics::Kinematics::Kinematics	(	std::string	root_link_name = `"base_link"`,
		std::string	rfoot_link_name = `"r_sole"`,
		std::string	lfoot_link_name = `"l_sole"`,
		const boost::shared_ptr< const urdf::ModelInterface > &	urdf_model = `boost::shared_ptr<const urdf::ModelInterface>()`
	)

Constructor.

Parameters:

root_link_name	- name of link that is base of robot
rfoot_link_name	- name of link that is considered the right foot
lfoot_link_name	- name of link that is considered the left foot
urdf_model	- a pointer to a pre-loaded URDF model that can speed up initialization if provided

Definition at line 38 of file Kinematics.cpp.

hrl_kinematics::Kinematics::~Kinematics ( ) [virtual]

Definition at line 47 of file Kinematics.cpp.

Member Function Documentation

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

Definition at line 111 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

Parameters:

[in]	joint_positions	angles of all joints
[out]	com	the computed center of mass in the root coordinate frame (base_link)
[out]	mass	total mass of all joints
[out]	tf_right_foot	returned transformation from body reference frame to right foot
[out]	tf_left_foot	returned transformation from body reference frame to left foot

Definition at line 197 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 148 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]`