Public Member Functions
void	assumeFrameFromJointAngle (const sensor_msgs::JointState &joint, const geometry_msgs::PoseStamped &pose)
bool	initKdlConfigure ()
	SelfMaskUrdfRobot (tf::TransformListener &tfl, tf::TransformBroadcaster &tfb, const std::vector< LinkInfo > &links, const urdf::Model &urdf_model, std::string root_link_id="BODY", std::string world_frame_id="map", bool set_foot_pose=false)
void	updateChain (std::map< std::string, double > &joint_angles, KDL::Chain &chain, tf::Pose &output_pose)
void	updateRobotModel (std::map< std::string, double > &joint_angles, const tf::Pose &root_pose)
Protected Attributes
std::map< std::string, KDL::Chain >	chain_map_
std::map< std::string, tf::Pose >	pose_map_
bool	publish_tf_
std::string	root_link_id_
tf::TransformBroadcaster &	tf_broadcaster_
KDL::Tree	tree_
urdf::Model	urdf_model_
std::string	world_frame_id_

Detailed Description

Definition at line 17 of file self_mask_urdf_robot.h.

Constructor & Destructor Documentation

robot_self_filter::SelfMaskUrdfRobot::SelfMaskUrdfRobot	(	tf::TransformListener &	tfl,
		tf::TransformBroadcaster &	tfb,
		const std::vector< LinkInfo > &	links,
		const urdf::Model &	urdf_model,
		std::string	root_link_id = `"BODY"`,
		std::string	world_frame_id = `"map"`,
		bool	set_foot_pose = `false`
	)		`[inline]`

Definition at line 20 of file self_mask_urdf_robot.h.

void robot_self_filter::SelfMaskUrdfRobot::assumeFrameFromJointAngle	(	const sensor_msgs::JointState &	joint,
		const geometry_msgs::PoseStamped &	pose
	)		`[inline]`

Definition at line 111 of file self_mask_urdf_robot.h.

bool robot_self_filter::SelfMaskUrdfRobot::initKdlConfigure ( ) [inline]

Definition at line 38 of file self_mask_urdf_robot.h.

void robot_self_filter::SelfMaskUrdfRobot::updateChain	(	std::map< std::string, double > &	joint_angles,
		KDL::Chain &	chain,
		tf::Pose &	output_pose
	)		`[inline]`