Computes forward kinematics for the robot. More...

Public Member Functions
	ForwardKinematics (const urdf::Model &model)
void	GetTransforms (const std::map< std::string, double > &joint_positions, std::vector< geometry_msgs::TransformStamped > *transforms) const
void	Init ()
Private Member Functions
void	AddChildren (const KDL::SegmentMap::const_iterator segment)
Private Attributes
urdf::Model	model_
std::map< std::string, SegmentPair >	segments_
KDL::Tree	tree_

Detailed Description

Computes forward kinematics for the robot.

Based on code from robot_state_publisher.

Definition at line 26 of file forward_kinematics.h.

Constructor & Destructor Documentation

robot_markers::ForwardKinematics::ForwardKinematics ( const urdf::Model & model ) [explicit]

Constructor.

Parameters:

[in] model The URDF model.

Definition at line 19 of file forward_kinematics.cpp.

void robot_markers::ForwardKinematics::AddChildren ( const KDL::SegmentMap::const_iterator segment ) [private]

Definition at line 62 of file forward_kinematics.cpp.

void robot_markers::ForwardKinematics::GetTransforms	(	const std::map< std::string, double > &	joint_positions,
		std::vector< geometry_msgs::TransformStamped > *	transforms
	)		const

Outputs the transforms for each set of joint angles passed in.

If a joint is not part of the URDF, then it is skipped.

Parameters:

[in]	joint_positions	The joint angles to query.
[out]	transforms	The transforms, one for each joint angle.

Definition at line 27 of file forward_kinematics.cpp.

void robot_markers::ForwardKinematics::Init ( )

Initializes the forward kinematics.

This should be called before calling any other methods.

Definition at line 22 of file forward_kinematics.cpp.

Definition at line 49 of file forward_kinematics.h.

Definition at line 51 of file forward_kinematics.h.

Definition at line 50 of file forward_kinematics.h.

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