KinematicExtensionLookat Class Reference

Class to be used for Cartesian KinematicExtensions for Lookat. More...

#include <kinematic_extension_lookat.h>

Inheritance diagram for KinematicExtensionLookat:

List of all members.

Public Member Functions
virtual KDL::Jacobian	adjustJacobian (const KDL::Jacobian &jac_chain)
virtual JointStates	adjustJointStates (const JointStates &joint_states)
virtual LimiterParams	adjustLimiterParams (const LimiterParams &limiter_params)
bool	initExtension ()
	KinematicExtensionLookat (const TwistControllerParams &params)
virtual void	processResultExtension (const KDL::JntArray &q_dot_ik)
	~KinematicExtensionLookat ()
Private Member Functions
void	broadcastFocusFrame (const ros::TimerEvent &event)
Private Attributes
tf::TransformBroadcaster	br_
KDL::Chain	chain_ext_
KDL::Chain	chain_full_
unsigned int	ext_dof_
boost::shared_ptr < KDL::ChainFkSolverPos_recursive >	fk_solver_ext_
boost::shared_ptr < SimpsonIntegrator >	integrator_
boost::shared_ptr < KDL::ChainJntToJacSolver >	jnt2jac_
JointStates	joint_states_ext_
JointStates	joint_states_full_
std::vector< double >	limits_ext_acc_
std::vector< double >	limits_ext_max_
std::vector< double >	limits_ext_min_
std::vector< double >	limits_ext_vel_
boost::mutex	mutex_
ros::Timer	timer_

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Detailed Description

Class to be used for Cartesian KinematicExtensions for Lookat.

Definition at line 40 of file kinematic_extension_lookat.h.

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Constructor & Destructor Documentation

KinematicExtensionLookat::KinematicExtensionLookat

(

const TwistControllerParams &

params

)

[inline, explicit]

Definition at line 43 of file kinematic_extension_lookat.h.

KinematicExtensionLookat::~KinematicExtensionLookat

(

)

[inline]

Definition at line 52 of file kinematic_extension_lookat.h.

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Member Function Documentation

KDL::Jacobian KinematicExtensionLookat::adjustJacobian

(

const KDL::Jacobian &

jac_chain

)

[virtual]

compose jac_full considering kinematical extension

Implements KinematicExtensionBase.

Definition at line 145 of file kinematic_extension_lookat.cpp.

JointStates KinematicExtensionLookat::adjustJointStates

(

const JointStates &

joint_states

)

[virtual]

Implements KinematicExtensionBase.

Definition at line 156 of file kinematic_extension_lookat.cpp.

LimiterParams KinematicExtensionLookat::adjustLimiterParams

(

const LimiterParams &

limiter_params

)

[virtual]

Implements KinematicExtensionBase.

Definition at line 183 of file kinematic_extension_lookat.cpp.

void KinematicExtensionLookat::broadcastFocusFrame

(

const ros::TimerEvent &

event

)

[private]

Definition at line 220 of file kinematic_extension_lookat.cpp.

bool KinematicExtensionLookat::initExtension

(

)

[virtual]

parse robot_description and generate KDL chains

ToDo: orientation of lin_AXIS should be determined by a parameter

Implements KinematicExtensionBase.

Definition at line 27 of file kinematic_extension_lookat.cpp.

void KinematicExtensionLookat::processResultExtension

(

const KDL::JntArray &

q_dot_ik

)

[virtual]

update JointStates using integration

Implements KinematicExtensionBase.

Definition at line 196 of file kinematic_extension_lookat.cpp.

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Member Data Documentation

tf::TransformBroadcaster KinematicExtensionLookat::br_ [private]

Definition at line 78 of file kinematic_extension_lookat.h.

KDL::Chain KinematicExtensionLookat::chain_ext_ [private]

Definition at line 62 of file kinematic_extension_lookat.h.

KDL::Chain KinematicExtensionLookat::chain_full_ [private]

Definition at line 63 of file kinematic_extension_lookat.h.

unsigned int KinematicExtensionLookat::ext_dof_ [private]

Definition at line 61 of file kinematic_extension_lookat.h.

boost::shared_ptr<KDL::ChainFkSolverPos_recursive> KinematicExtensionLookat::fk_solver_ext_ [private]

Definition at line 72 of file kinematic_extension_lookat.h.

boost::shared_ptr<SimpsonIntegrator> KinematicExtensionLookat::integrator_ [private]

Definition at line 74 of file kinematic_extension_lookat.h.

boost::shared_ptr<KDL::ChainJntToJacSolver> KinematicExtensionLookat::jnt2jac_ [private]

Definition at line 71 of file kinematic_extension_lookat.h.

JointStates KinematicExtensionLookat::joint_states_ext_ [private]

Definition at line 64 of file kinematic_extension_lookat.h.

JointStates KinematicExtensionLookat::joint_states_full_ [private]

Definition at line 65 of file kinematic_extension_lookat.h.

std::vector<double> KinematicExtensionLookat::limits_ext_acc_ [private]

Definition at line 69 of file kinematic_extension_lookat.h.

std::vector<double> KinematicExtensionLookat::limits_ext_max_ [private]

Definition at line 66 of file kinematic_extension_lookat.h.

std::vector<double> KinematicExtensionLookat::limits_ext_min_ [private]

Definition at line 67 of file kinematic_extension_lookat.h.

std::vector<double> KinematicExtensionLookat::limits_ext_vel_ [private]

Definition at line 68 of file kinematic_extension_lookat.h.

boost::mutex KinematicExtensionLookat::mutex_ [private]

Definition at line 76 of file kinematic_extension_lookat.h.

ros::Timer KinematicExtensionLookat::timer_ [private]

Definition at line 77 of file kinematic_extension_lookat.h.

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

• kinematic_extension_lookat.h
• kinematic_extension_lookat.cpp