, including all inherited members.
addSegment(const KDL::Segment &segment, const std::string &hookName) | KdlTreeUtilities | [virtual] |
boundedCubic(const double &q, const double &pLeft, const double &pRight, const double &ct1, const double &ct2) | KdlTreeTr | [private] |
createFrameTwistMaps(const std::vector< KDL::Frame > &nodeFrames, const std::vector< NodePriority > &NodePriorities) | KdlTreeTr | [private] |
CRITICAL | KdlTreeIk | [static] |
critMaxIter | KdlTreeIk | [protected] |
cubic(const double &q, const double &pLeft, const double &pRight, const double &ct1, const double &ct2) | KdlTreeTr | [private] |
currentFrameMap | KdlTreeTr | [private] |
desiredFrameMap | KdlTreeTr | [private] |
eps | KdlTreeIk | [protected] |
findFrameTwist(const KDL::JntArray &joints_in) | KdlTreeTr | [private] |
findJointInertia(const KDL::JntArray &joints_in, KDL::RotationalInertia &inertia_out) | KdlTreeTr | [private] |
fkPosSolverPtr | KdlTreeIk | |
FrameMapItr typedef | KdlTreeTr | [protected] |
getBaseName() const | KdlTreeUtilities | [inline, virtual] |
getBiasVector(const Eigen::VectorXd &joints_in, const Eigen::VectorXd &joint_deltas, const Eigen::MatrixXd &ijac) | KdlTreeTr | [private] |
getCenterJointsTask(const KDL::JntArray &joints_in) | KdlTreeTr | [private] |
getChain(const std::string &baseFrame, const std::string &toolFrame, KDL::Chain &chain) const | KdlTreeUtilities | [virtual] |
getChainJointNames(const KDL::Chain &chain, std::vector< std::string > &jointNames) const | KdlTreeUtilities | |
getChainJointNames(const std::string &toolFrame, std::vector< std::string > &jointNames) const | KdlTreeUtilities | [virtual] |
getChainJointNames(const std::string &baseFrame, const std::string &toolFrame, std::vector< std::string > &jointNames) const | KdlTreeUtilities | [virtual] |
getFrames(const KDL::JntArray &joints_in, std::map< std::string, KDL::Frame > &frameMap) | KdlTreeIk | [virtual] |
getJointCount() const | KdlTreeUtilities | [inline, virtual] |
getJointNames(std::vector< std::string > &jointNames) const | KdlTreeUtilities | [virtual] |
getJointPositions(const KDL::JntArray &joints_in, const std::vector< std::string > &nodeNames, const std::vector< KDL::Frame > &nodeFrames, KDL::JntArray &joints_out, const std::vector< NodePriority > &nodePriorities) | KdlTreeTr | [virtual] |
getOrderedTasksByFrame(const KDL::JntArray &joints_in) | KdlTreeTr | [private] |
getOrderedTasksByPriority(const KDL::JntArray &joints_in) | KdlTreeTr | [private] |
getTaskReconstruction(const KDL::JntArray &joints_in, KDL::JntArray &joint_deltas) | KdlTreeTr | [private] |
getTimeStep() const | KdlTreeIk | [inline] |
getTree() const | KdlTreeParser | [inline] |
hasSegment(const std::string &segName) const | KdlTreeUtilities | [inline] |
HIGH | KdlTreeIk | [static] |
IGNORE | KdlTreeIk | [static] |
ijacJntWeights | KdlTreeTr | [private] |
inertiaMap | KdlTreeIk | [protected] |
inertias | KdlTreeIk | [protected] |
initialize() | KdlTreeTr | [virtual] |
isTaskAchieved(const KDL::JntArray &joints_in, std::stringstream &errMsg) | KdlTreeTr | [private] |
jacJntWeights | KdlTreeTr | [private] |
jacSolverPtr | KdlTreeIk | [protected] |
jointLim | KdlTreeTr | [private] |
jointMaxDecel | KdlTreeTr | [protected] |
jointNames | KdlTreeIk | [protected] |
KdlTreeIk() | KdlTreeIk | |
KdlTreeParser() | KdlTreeParser | |
KdlTreeTr() | KdlTreeTr | |
KdlTreeUtilities() | KdlTreeUtilities | |
Kr | KdlTreeTr | [protected] |
lambda_squared | KdlTreeIk | [protected] |
limitJoints(const KDL::JntArray &joints_in, KDL::JntArray &joints_out, KDL::JntArray &delta_joints) | KdlTreeTr | |
limitTaskTwist(Eigen::VectorXd &twist) | KdlTreeTr | [protected] |
limitTaskTwist(KDL::Twist &twist) | KdlTreeTr | [protected] |
loadFromFile(const std::string &fileName) | KdlTreeParser | |
loadFromParam(const std::string ¶mName) | KdlTreeParser | |
LOW | KdlTreeIk | [static] |
maxInertia | KdlTreeIk | [protected] |
maxTwist | KdlTreeTr | [protected] |
mbar | KdlTreeTr | [protected] |
MEDIUM | KdlTreeIk | [static] |
minInertia | KdlTreeIk | [protected] |
modifyToAvoidSingularities(const Eigen::VectorXd &nm, const double mom, const Eigen::VectorXd &dr, Eigen::VectorXd &drp) | KdlTreeTr | [private] |
momLim | KdlTreeTr | [private] |
nodeNames | KdlTreeTr | [private] |
nodePriorities | KdlTreeTr | [private] |
NodePriority typedef | KdlTreeIk | |
nonCritMaxIter | KdlTreeIk | [protected] |
numConstraints | KdlTreeTr | [private] |
numJoints | KdlTreeTr | [private] |
pInv(const Eigen::MatrixXd &jac_in, Eigen::MatrixXd &ijac_out, double &mom) | KdlTreeTr | [private] |
positionLimiter | KdlTreeIk | [protected] |
PriorityTaskAxisItr typedef | KdlTreeTr | [protected] |
priorityTaskAxisMap | KdlTreeTr | [private] |
priorityTolMap | KdlTreeIk | [protected] |
removeSegment(const std::string &segName) | KdlTreeUtilities | [virtual] |
removeSegRecursive(KDL::Tree &tree, KDL::SegmentMap::const_iterator root, const std::string &hook_name, const std::string &seg_remove_name) | KdlTreeUtilities | |
resetSolver() | KdlTreeIk | |
setEpsilon(double eps_in=1e-6) | KdlTreeIk | [inline] |
setJointInertias(const std::map< std::string, double > &inertia_in) | KdlTreeTr | |
setKr(double Kr=0.00032) | KdlTreeTr | [inline] |
setLambda(double lambda=0.05) | KdlTreeIk | [inline] |
setMaxCriticalIterations(unsigned int maxIter_in=50) | KdlTreeIk | [inline] |
setMaxJointDecel(double maxDecel=1.0) | KdlTreeTr | [inline] |
setMaxNonCriticalIterations(unsigned int maxIter_in=5) | KdlTreeIk | [inline] |
setMaxTwist(double maxTwist=0.1) | KdlTreeTr | [inline] |
setMBar(double mbar=1e-7) | KdlTreeTr | [inline] |
setPositionLimiter(boost::shared_ptr< JointNamePositionLimiter > posLimiter) | KdlTreeIk | [inline] |
setPriorityTol(const std::map< int, std::pair< double, double > > &priority_tol) | KdlTreeIk | [inline] |
setTimeStep(double timeStep_in=0.01) | KdlTreeIk | |
setTree(const KDL::Tree &tree_in) | KdlTreeParser | [inline] |
sign(double num) | KdlTreeTr | [inline, private] |
Task typedef | KdlTreeTr | [protected] |
taskList | KdlTreeTr | [private] |
timeStep | KdlTreeIk | [protected] |
tree | KdlTreeParser | [protected] |
twistMap | KdlTreeTr | [private] |
TwistMapItr typedef | KdlTreeTr | [protected] |
TwistPriority typedef | KdlTreeTr | [protected] |
updateNodeFrameMap(const std::vector< KDL::Frame > &nodeFrames) | KdlTreeTr | [private] |
velocityLim | KdlTreeTr | [private] |
~KdlTreeIk() | KdlTreeIk | |
~KdlTreeParser() | KdlTreeParser | [virtual] |
~KdlTreeTr() | KdlTreeTr | |
~KdlTreeUtilities() | KdlTreeUtilities | |