Public Member Functions | Private Attributes
ros_ethercat_model::Chain Class Reference

#include <chain.hpp>

List of all members.

Public Member Functions

void addEfforts (KDL::JntArray &a)
 set the commanded joint efforts of the chain as a kdl jnt array
template<class Vec >
void addEfforts (const Vec &v)
 Adds efforts from any type that implements size() and [] lookup.
bool allCalibrated ()
 returns true if all the joints in the chain are calibrated
void getEfforts (std::vector< double > &efforts)
void getEfforts (KDL::JntArray &a)
 get the measured joint efforts of the chain as a kdl jnt array
JointStategetJoint (unsigned int actuated_joint_i)
 get a joint state of an actuated joint of the chain.
void getPositions (std::vector< double > &positions)
void getPositions (KDL::JntArray &a)
template<class Vec >
void getPositions (Vec &v)
 gets the joint positions of the chain as any type with size() and []
void getVelocities (std::vector< double > &velocities)
 get the joint velocities of the chain as a std vector
void getVelocities (KDL::JntArrayVel &a)
 get the joint velocities and position of the chain as a kdl jnt array vel. Fills in the positions too.
template<class Vec >
void getVelocities (Vec &v)
 gets the joint velocities of the chain as any type with size() and []
bool init (RobotState *robot_state, const std::string &root, const std::string &tip)
 initialize the chain object
void setEfforts (KDL::JntArray &a)
 set the commanded joint efforts of the chain as a std vector
int size () const
 Returns the number of actuated joints in the chain.
void toKDL (KDL::Chain &chain)
 get a kdl chain object that represents the chain from root to tip

Private Attributes

std::vector< JointState * > joints_
KDL::Chain kdl_chain_
RobotStaterobot_state_

Detailed Description

Definition at line 46 of file chain.hpp.


Member Function Documentation

set the commanded joint efforts of the chain as a kdl jnt array

Definition at line 171 of file chain.hpp.

template<class Vec >
void ros_ethercat_model::Chain::addEfforts ( const Vec &  v) [inline]

Adds efforts from any type that implements size() and [] lookup.

Definition at line 179 of file chain.hpp.

returns true if all the joints in the chain are calibrated

Definition at line 187 of file chain.hpp.

void ros_ethercat_model::Chain::getEfforts ( std::vector< double > &  efforts) [inline]

Definition at line 147 of file chain.hpp.

get the measured joint efforts of the chain as a kdl jnt array

Definition at line 155 of file chain.hpp.

JointState* ros_ethercat_model::Chain::getJoint ( unsigned int  actuated_joint_i) [inline]

get a joint state of an actuated joint of the chain.

the actuated_joint_i index starts at zero fixed joints are ignored in the list of actuated joints

Definition at line 205 of file chain.hpp.

void ros_ethercat_model::Chain::getPositions ( std::vector< double > &  positions) [inline]

Definition at line 100 of file chain.hpp.

Definition at line 106 of file chain.hpp.

template<class Vec >
void ros_ethercat_model::Chain::getPositions ( Vec &  v) [inline]

gets the joint positions of the chain as any type with size() and []

Definition at line 114 of file chain.hpp.

void ros_ethercat_model::Chain::getVelocities ( std::vector< double > &  velocities) [inline]

get the joint velocities of the chain as a std vector

Definition at line 122 of file chain.hpp.

get the joint velocities and position of the chain as a kdl jnt array vel. Fills in the positions too.

Definition at line 129 of file chain.hpp.

template<class Vec >
void ros_ethercat_model::Chain::getVelocities ( Vec &  v) [inline]

gets the joint velocities of the chain as any type with size() and []

Definition at line 141 of file chain.hpp.

bool ros_ethercat_model::Chain::init ( RobotState robot_state,
const std::string &  root,
const std::string &  tip 
) [inline]

initialize the chain object

Parameters:
robot_statethe robot state object containing the robot model and the state of each joint in the robot
rootthe name of the root link of the chain
tipthe name of the tip link of the chain

Definition at line 56 of file chain.hpp.

set the commanded joint efforts of the chain as a std vector

Definition at line 163 of file chain.hpp.

int ros_ethercat_model::Chain::size ( ) const [inline]

Returns the number of actuated joints in the chain.

Definition at line 214 of file chain.hpp.

void ros_ethercat_model::Chain::toKDL ( KDL::Chain chain) [inline]

get a kdl chain object that represents the chain from root to tip

Definition at line 196 of file chain.hpp.


Member Data Documentation

Definition at line 223 of file chain.hpp.

Definition at line 221 of file chain.hpp.

Definition at line 220 of file chain.hpp.


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


ros_ethercat_model
Author(s): Manos Nikolaidis
autogenerated on Thu Aug 27 2015 14:47:12