Abstract Helper Class to be used for Cartesian KinematicExtensions based on enabled DoFs. More...

Inheritance diagram for KinematicExtensionDOF:

Public Member Functions
virtual KDL::Jacobian	adjustJacobian (const KDL::Jacobian &jac_chain)=0

KDL::Jacobian	adjustJacobianDof (const KDL::Jacobian &jac_chain, const KDL::Frame eb_frame_ct, const KDL::Frame cb_frame_eb, const ActiveCartesianDimension active_dim)

virtual JointStates	adjustJointStates (const JointStates &joint_states)=0

virtual LimiterParams	adjustLimiterParams (const LimiterParams &limiter_params)=0

virtual bool	initExtension ()=0

	KinematicExtensionDOF (const TwistControllerParams &params)

virtual void	processResultExtension (const KDL::JntArray &q_dot_ik)=0

	~KinematicExtensionDOF ()

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

virtual	~KinematicExtensionBase ()

Protected Attributes
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

Abstract Helper Class to be used for Cartesian KinematicExtensions based on enabled DoFs.

Definition at line 32 of file kinematic_extension_dof.h.

Constructor & Destructor Documentation

KinematicExtensionDOF::KinematicExtensionDOF ( const TwistControllerParams & params )

inlineexplicit

Definition at line 35 of file kinematic_extension_dof.h.

KinematicExtensionDOF::~KinematicExtensionDOF ( )

inline

Definition at line 39 of file kinematic_extension_dof.h.

virtual KDL::Jacobian KinematicExtensionDOF::adjustJacobian ( const KDL::Jacobian & jac_chain )

pure virtual

KDL::Jacobian KinematicExtensionDOF::adjustJacobianDof	(	const KDL::Jacobian &	jac_chain,
		const KDL::Frame	eb_frame_ct,
		const KDL::Frame	cb_frame_eb,
		const ActiveCartesianDimension	active_dim
	)

Helper function adjusting the Jacobian used in inverse differential computation based on the Cartesian DoFs enabled in 'adjustJacobian()'.

Parameters

jac_chain	The jacobian of the primary kinematic chain.
eb_frame_ct	The transformation from base_frame of the extension (eb) to the tip_frame of the primary chain (ct).
cb_frame_eb	The transformation from base_frame of the primary chain (cb) to the base_frame of the extension (eb).
active_dim	The binary vector of active dimensions.