#include <chain.hpp>

Public Member Functions
void	addEfforts (KDL::JntArray &a)
	set the commanded joint efforts of the chain as a kdl jnt array
template<class Vec >
void	addEfforts (const Vec &v)
	Adds efforts from any type that implements size() and [] lookup.
bool	allCalibrated ()
	returns true if all the joints in the chain are calibrated
void	getEfforts (std::vector< double > &efforts)
void	getEfforts (KDL::JntArray &a)
	get the measured joint efforts of the chain as a kdl jnt array
JointState *	getJoint (unsigned int actuated_joint_i)
	get a joint state of an actuated joint of the chain.
void	getPositions (std::vector< double > &positions)
void	getPositions (KDL::JntArray &a)
template<class Vec >
void	getPositions (Vec &v)
	gets the joint positions of the chain as any type with size() and []
void	getVelocities (std::vector< double > &velocities)
	get the joint velocities of the chain as a std vector
void	getVelocities (KDL::JntArrayVel &a)
	get the joint velocities and position of the chain as a kdl jnt array vel. Fills in the positions too.
template<class Vec >
void	getVelocities (Vec &v)
	gets the joint velocities of the chain as any type with size() and []
bool	init (RobotState *robot_state, const std::string &root, const std::string &tip)
	initialize the chain object
void	setEfforts (KDL::JntArray &a)
	set the commanded joint efforts of the chain as a std vector
int	size () const
	Returns the number of actuated joints in the chain.
void	toKDL (KDL::Chain &chain)
	get a kdl chain object that represents the chain from root to tip
Private Attributes
std::vector< JointState * >	joints_
KDL::Chain	kdl_chain_
RobotState *	robot_state_

Detailed Description

Definition at line 46 of file chain.hpp.

Member Function Documentation

void ros_ethercat_model::Chain::addEfforts ( KDL::JntArray & a ) [inline]

set the commanded joint efforts of the chain as a kdl jnt array

Definition at line 171 of file chain.hpp.

template<class Vec >

void ros_ethercat_model::Chain::addEfforts ( const Vec & v ) [inline]

Adds efforts from any type that implements size() and [] lookup.

Definition at line 179 of file chain.hpp.

bool ros_ethercat_model::Chain::allCalibrated ( ) [inline]

returns true if all the joints in the chain are calibrated

Definition at line 187 of file chain.hpp.

void ros_ethercat_model::Chain::getEfforts ( std::vector< double > & efforts ) [inline]

Definition at line 147 of file chain.hpp.

void ros_ethercat_model::Chain::getEfforts ( KDL::JntArray & a ) [inline]

get the measured joint efforts of the chain as a kdl jnt array

Definition at line 155 of file chain.hpp.

JointState* ros_ethercat_model::Chain::getJoint ( unsigned int actuated_joint_i ) [inline]

get a joint state of an actuated joint of the chain.

the actuated_joint_i index starts at zero fixed joints are ignored in the list of actuated joints

Definition at line 205 of file chain.hpp.

void ros_ethercat_model::Chain::getPositions ( std::vector< double > & positions ) [inline]

Definition at line 100 of file chain.hpp.

void ros_ethercat_model::Chain::getPositions ( KDL::JntArray & a ) [inline]

Definition at line 106 of file chain.hpp.

template<class Vec >

void ros_ethercat_model::Chain::getPositions ( Vec & v ) [inline]

gets the joint positions of the chain as any type with size() and []

Definition at line 114 of file chain.hpp.

void ros_ethercat_model::Chain::getVelocities ( std::vector< double > & velocities ) [inline]

get the joint velocities of the chain as a std vector

Definition at line 122 of file chain.hpp.

void ros_ethercat_model::Chain::getVelocities ( KDL::JntArrayVel & a ) [inline]

get the joint velocities and position of the chain as a kdl jnt array vel. Fills in the positions too.

Definition at line 129 of file chain.hpp.

template<class Vec >

void ros_ethercat_model::Chain::getVelocities ( Vec & v ) [inline]

gets the joint velocities of the chain as any type with size() and []

Definition at line 141 of file chain.hpp.

bool ros_ethercat_model::Chain::init	(	RobotState *	robot_state,
		const std::string &	root,
		const std::string &	tip
	)		`[inline]`

initialize the chain object

Parameters:

robot_state	the robot state object containing the robot model and the state of each joint in the robot
root	the name of the root link of the chain
tip	the name of the tip link of the chain

Definition at line 56 of file chain.hpp.

void ros_ethercat_model::Chain::setEfforts ( KDL::JntArray & a ) [inline]

set the commanded joint efforts of the chain as a std vector

Definition at line 163 of file chain.hpp.

int ros_ethercat_model::Chain::size ( ) const [inline]

Returns the number of actuated joints in the chain.

Definition at line 214 of file chain.hpp.

void ros_ethercat_model::Chain::toKDL ( KDL::Chain & chain ) [inline]

get a kdl chain object that represents the chain from root to tip

Definition at line 196 of file chain.hpp.