MobileTreeIk Class Reference

#include <MobileTreeIk.h>

Inheritance diagram for MobileTreeIk:

List of all members.

Public Member Functions
virtual std::string	getBaseName () const
	get base of tree. Virtual so derived classes can publish a different base if desired.
virtual void	getFrames (const KDL::JntArray &joints_in, std::map< std::string, KDL::Frame > &frameMap)
	getJoints
virtual unsigned int	getJointCount () const
	get joint count of tree. Virtual so derived classes can publish a different number if desired.
virtual void	getJointNames (std::vector< std::string > &jointNames) const
	get joint names in tree. Virtual so derived classes can manipulate the published names if desired.
virtual void	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)
	getJoints
	MobileTreeIk ()
void	resetMobileJoints ()
void	setBases (const std::vector< std::string > &bases_in)
void	setPriorityTol (const std::map< int, std::pair< double, double > > &priority_tol)
	~MobileTreeIk ()
Static Public Attributes
static const int	BASE = -1
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
Private Attributes
std::vector< std::string >	bases
KDL::JntArray	mobileJoints
std::string	robotModelBase

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Detailed Description

Definition at line 11 of file MobileTreeIk.h.

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Constructor & Destructor Documentation

MobileTreeIk::MobileTreeIk

(

)

Definition at line 5 of file MobileTreeIk.cpp.

MobileTreeIk::~MobileTreeIk

(

)

Definition at line 10 of file MobileTreeIk.cpp.

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Member Function Documentation

virtual std::string MobileTreeIk::getBaseName

(

)

const [inline, virtual]

get base of tree. Virtual so derived classes can publish a different base if desired.

Reimplemented from KdlTreeUtilities.

Definition at line 35 of file MobileTreeIk.h.

void MobileTreeIk::getFrames	(	const KDL::JntArray &	joints_in,
		std::map< std::string, KDL::Frame > &	frameMap
	)		[virtual]

getJoints

Parameters:

joints_in	input joints
nodeNames	input frame names
nodeFrames	input frames
joints_out	output joints
nodePriorities	input node priorities (6 * nodeNames.size())

Reimplemented from KdlTreeIk.

Definition at line 144 of file MobileTreeIk.cpp.

virtual unsigned int MobileTreeIk::getJointCount

(

)

const [inline, virtual]

get joint count of tree. Virtual so derived classes can publish a different number if desired.

Reimplemented from KdlTreeUtilities.

Definition at line 37 of file MobileTreeIk.h.

void MobileTreeIk::getJointNames

(

std::vector< std::string > &

jointNames

)

const [virtual]

get joint names in tree. Virtual so derived classes can manipulate the published names if desired.

Reimplemented from KdlTreeUtilities.

Definition at line 125 of file MobileTreeIk.cpp.

void MobileTreeIk::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
	)		[virtual]

getJoints

Parameters:

joints_in	input joints
nodeNames	input frame names
nodeFrames	input frames
joints_out	output joints
nodePriorities	input node priorities (6 * nodeNames.size())

Reimplemented from KdlTreeTr.

Definition at line 45 of file MobileTreeIk.cpp.

void MobileTreeIk::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 KdlTreeTr.

Definition at line 100 of file MobileTreeIk.cpp.

void MobileTreeIk::resetMobileJoints

(

)

Definition at line 40 of file MobileTreeIk.cpp.

void MobileTreeIk::setBases

(

const std::vector< std::string > &

bases_in

)

Definition at line 14 of file MobileTreeIk.cpp.

void MobileTreeIk::setPriorityTol

(

const std::map< int, std::pair< double, double > > &

priority_tol

)

[inline]

Reimplemented from KdlTreeIk.

Definition at line 40 of file MobileTreeIk.h.

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Member Data Documentation

const int MobileTreeIk::BASE = -1 [static]

Definition at line 14 of file MobileTreeIk.h.

std::vector<std::string> MobileTreeIk::bases [private]

Definition at line 51 of file MobileTreeIk.h.

KDL::JntArray MobileTreeIk::mobileJoints [private]

Definition at line 50 of file MobileTreeIk.h.

std::string MobileTreeIk::robotModelBase [private]

Definition at line 52 of file MobileTreeIk.h.

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

• MobileTreeIk.h
• MobileTreeIk.cpp