Class implementing a mobile base KinematicExtension with Cartesian DoFs (lin_x, lin_y, rot_z) enabled (i.e. 2D). More...

#include <kinematic_extension_dof.h>

Inheritance diagram for KinematicExtensionBaseActive:

[legend]

Public Member Functions
KDL::Jacobian	adjustJacobian (const KDL::Jacobian &jac_chain)

JointStates	adjustJointStates (const JointStates &joint_states)

LimiterParams	adjustLimiterParams (const LimiterParams &limiter_params)

void	baseTwistCallback (const geometry_msgs::Twist::ConstPtr &msg)

bool	initExtension ()

	KinematicExtensionBaseActive (const TwistControllerParams &params)

void	processResultExtension (const KDL::JntArray &q_dot_ik)

	~KinematicExtensionBaseActive ()

Public Member Functions inherited from KinematicExtensionDOF
KDL::Jacobian	adjustJacobianDof (const KDL::Jacobian &jac_chain, const KDL::Frame eb_frame_ct, const KDL::Frame cb_frame_eb, const ActiveCartesianDimension active_dim)

	KinematicExtensionDOF (const TwistControllerParams &params)

	~KinematicExtensionDOF ()

Public Member Functions inherited from KinematicExtensionBase
	KinematicExtensionBase (const TwistControllerParams &params)

virtual	~KinematicExtensionBase ()

Private Attributes
ros::Publisher	base_vel_pub_

double	max_vel_lin_base_

double	max_vel_rot_base_

double	min_vel_lin_base_

double	min_vel_rot_base_

Additional Inherited Members
Protected Attributes inherited from KinematicExtensionDOF
unsigned int	ext_dof_

std::vector< std::string >	joint_names_

JointStates	joint_states_

std::vector< double >	limits_acc_

std::vector< double >	limits_max_

std::vector< double >	limits_min_

std::vector< double >	limits_vel_

Protected Attributes inherited from KinematicExtensionBase
ros::NodeHandle	nh_

const TwistControllerParams &	params_

tf::TransformListener	tf_listener_

Detailed Description

Class implementing a mobile base KinematicExtension with Cartesian DoFs (lin_x, lin_y, rot_z) enabled (i.e. 2D).

Definition at line 62 of file kinematic_extension_dof.h.

Constructor & Destructor Documentation

KinematicExtensionBaseActive::KinematicExtensionBaseActive ( const TwistControllerParams & params )

inlineexplicit

Definition at line 65 of file kinematic_extension_dof.h.

KinematicExtensionBaseActive::~KinematicExtensionBaseActive ( )

inline

Definition at line 69 of file kinematic_extension_dof.h.

Member Function Documentation

KDL::Jacobian KinematicExtensionBaseActive::adjustJacobian ( const KDL::Jacobian & jac_chain )

virtual

Method adjusting the Jacobian used in inverse differential computation. Enable Cartesian DoFs (lin_x, lin_y, rot_z) considering current transformation to main kinematic chain.

get required transformations

active base can move in lin_x, lin_y and rot_z

Implements KinematicExtensionDOF.

Definition at line 170 of file kinematic_extension_dof.cpp.

JointStates KinematicExtensionBaseActive::adjustJointStates ( const JointStates & joint_states )

virtual

Method adjusting the JointStates used in inverse differential computation and limiters. Fill neutrally.

Implements KinematicExtensionDOF.

Definition at line 212 of file kinematic_extension_dof.cpp.

LimiterParams KinematicExtensionBaseActive::adjustLimiterParams ( const LimiterParams & limiter_params )

virtual

Method adjusting the LimiterParams used in limiters. Appends limits for BaseActive