Public Member Functions |
| void | addEfforts (const KDL::JntArray &efforts) |
| | add to the commanded joint efforts of the tree's joints from a KDL::JntArray
|
| template<class Vec > |
| void | addEfforts (const Vec &v) |
| | add to the commanded joint efforts of the tree's joints from any type that implements size() and [] lookup
|
| bool | allCalibrated () const |
| | returns true, if all the joints in the tree are calibrated
|
| void | getEfforts (KDL::JntArray &efforts) const |
| | get the measured joint efforts of the tree's joints as a KDL::JntArray
|
| template<class Vec > |
| void | getEfforts (Vec &v) const |
| | get the measured joint efforts of the tree's joints as any type with size() and [] lookup
|
| JointState * | getJoint (unsigned int actuated_joint_i) const |
| | returns a pointer to the joint state of a joint in the list of the tree's actuated joints (index starts at 0)
|
| void | getPositions (KDL::JntArray &positions) const |
| | get the position of the joints of the tree as a KDL::JntArray
|
| template<class Vec > |
| void | getPositions (Vec &v) const |
| | get the position of the joints of the tree as any type with size() and [] lookup
|
| void | getVelocities (KDL::JntArrayVel &velocities) const |
| | get the velocities of the joints of the tree as a KDL::JntArrayVel (fills in the positions, too)
|
| template<class Vec > |
| void | getVelocities (Vec &v) const |
| | get the velocities of the joints of the tree as any type with size() and [] lookup
|
| bool | init (RobotState *robot_state) |
| | initializes the tree object The initializer's most important functionality is to create a vector of joints. This vector is ordered according to the joint's number given by KDL's tree class, which is used by the kdl_parser to create a KDL::Tree from the robot description. This structure is what a KDL tree solver expects. The vector of joints can later be used to read the joints' positions or to send efforts to them.
|
| void | setEfforts (const KDL::JntArray &efforts) |
| | set the commanded joint efforts of the tree's joints from a KDL::JntArray
|
| template<class Vec > |
| void | setEfforts (const Vec &v) |
| | set the commanded joint efforts of the tree's joints from any type that implements size() and [] lookup
|
| int | size () const |
| | returns the number of actuated joints in the tree
|
| void | toKdl (KDL::Tree &tree) const |
| | get a KDL::Tree object that represents the tree
|
| | Tree () |
Private Attributes |
| std::vector< JointState * > | joints_ |
| | a vector of pointers to joint states; includes only the ones that can be actuated (not fixed joints)
|
| KDL::Tree | kdl_tree_ |
Definition at line 53 of file tree.hpp.