KdlTreeId Class Reference

#include <KdlTreeId.h>

Inheritance diagram for KdlTreeId:

List of all members.

Public Member Functions
int	findBranchNodes (const std::string &baseFrame, const std::string &ignoreFrame, std::vector< std::string > &nodeList, std::vector< std::string > &direction)
void	findChainFromNode (const std::string &baseFrame, const std::string &direction, std::string &toolFrame)
void	getAccelInBaseFrame (KDL::Vector gravity, const std::string &gravityFrame, JointDynamicsData &jd, const std::string &base, KDL::Twist &a_in)
bool	isBaseFrameInTree (const std::string &baseFrame)
	KdlTreeId ()
KDL::Wrench	sumForces (const KDL::Wrenches &f_in)
bool	treeRecursiveNewtonEuler (JointDynamicsData &jd, const std::string &baseFrame, const std::string &ignoreFrame, const KDL::Twist &v_in, const KDL::Twist &a_in, KDL::Wrench &f_out, KDL::RigidBodyInertia &I_out)
	~KdlTreeId ()
Protected Member Functions
virtual void	initialize ()
	initialize called by both of the load functions, allowing derived classes to perform additional initialization after the tree is loaded
void	setFrames (const std::string &gravityFrame_in, const std::string &baseFrame_in)
Protected Attributes
std::string	baseFrame
std::auto_ptr < KDL::ChainFkSolverPos_recursive >	chainFkSolver
KDL::Chain	gravBaseChain
std::string	gravityFrame
std::vector< std::string >	jointNames
KDL::JntArrayAcc	joints

---

Detailed Description

Definition at line 11 of file KdlTreeId.h.

---

Constructor & Destructor Documentation

KdlTreeId::KdlTreeId

(

)

Definition at line 4 of file KdlTreeId.cpp.

KdlTreeId::~KdlTreeId

(

)

Definition at line 9 of file KdlTreeId.cpp.

---

Member Function Documentation

int KdlTreeId::findBranchNodes	(	const std::string &	baseFrame,
		const std::string &	ignoreFrame,
		std::vector< std::string > &	nodeList,
		std::vector< std::string > &	direction
	)

Definition at line 205 of file KdlTreeId.cpp.

void KdlTreeId::findChainFromNode	(	const std::string &	baseFrame,
		const std::string &	direction,
		std::string &	toolFrame
	)

Definition at line 179 of file KdlTreeId.cpp.

void KdlTreeId::getAccelInBaseFrame	(	KDL::Vector	gravity,
		const std::string &	gravityFrame,
		JointDynamicsData &	jd,
		const std::string &	base,
		KDL::Twist &	a_in
	)

Definition at line 32 of file KdlTreeId.cpp.

void KdlTreeId::initialize

(

)

[protected, virtual]

initialize called by both of the load functions, allowing derived classes to perform additional initialization after the tree is loaded

Reimplemented from KdlTreeParser.

Definition at line 243 of file KdlTreeId.cpp.

bool KdlTreeId::isBaseFrameInTree

(

const std::string &

baseFrame

)

Definition at line 13 of file KdlTreeId.cpp.

void KdlTreeId::setFrames	(	const std::string &	gravityFrame_in,
		const std::string &	baseFrame_in
	)		[protected]

Definition at line 18 of file KdlTreeId.cpp.

KDL::Wrench KdlTreeId::sumForces

(

const KDL::Wrenches &

f_in

)

Definition at line 231 of file KdlTreeId.cpp.

bool KdlTreeId::treeRecursiveNewtonEuler	(	JointDynamicsData &	jd,
		const std::string &	baseFrame,
		const std::string &	ignoreFrame,
		const KDL::Twist &	v_in,
		const KDL::Twist &	a_in,
		KDL::Wrench &	f_out,
		KDL::RigidBodyInertia &	I_out
	)

Definition at line 44 of file KdlTreeId.cpp.

---

Member Data Documentation

std::string KdlTreeId::baseFrame [protected]

Definition at line 36 of file KdlTreeId.h.

std::auto_ptr<KDL::ChainFkSolverPos_recursive> KdlTreeId::chainFkSolver [protected]

Definition at line 38 of file KdlTreeId.h.

KDL::Chain KdlTreeId::gravBaseChain [protected]

Definition at line 37 of file KdlTreeId.h.

std::string KdlTreeId::gravityFrame [protected]

Definition at line 35 of file KdlTreeId.h.

std::vector<std::string> KdlTreeId::jointNames [protected]

Definition at line 31 of file KdlTreeId.h.

KDL::JntArrayAcc KdlTreeId::joints [protected]

Definition at line 39 of file KdlTreeId.h.

---

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

• KdlTreeId.h
• KdlTreeId.cpp