KinematicExtensionURDF Class Reference

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

#include <kinematic_extension_urdf.h>

Inheritance diagram for KinematicExtensionURDF:

Public Member Functions
virtual KDL::Jacobian	adjustJacobian (const KDL::Jacobian &jac_chain)
virtual JointStates	adjustJointStates (const JointStates &joint_states)
virtual LimiterParams	adjustLimiterParams (const LimiterParams &limiter_params)
bool	initExtension ()
void	jointstateCallback (const sensor_msgs::JointState::ConstPtr &msg)
	KinematicExtensionURDF (const TwistControllerParams &params)
virtual void	processResultExtension (const KDL::JntArray &q_dot_ik)
	~KinematicExtensionURDF ()
Public Member Functions inherited from KinematicExtensionBase
	KinematicExtensionBase (const TwistControllerParams &params)
virtual	~KinematicExtensionBase ()

Protected Attributes
KDL::Chain	chain_
ros::Publisher	command_pub_
std::string	ext_base_
unsigned int	ext_dof_
std::string	ext_tip_
std::vector< std::string >	joint_names_
ros::Subscriber	joint_state_sub_
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 URDF.

Definition at line 35 of file kinematic_extension_urdf.h.

Constructor & Destructor Documentation

KinematicExtensionURDF::KinematicExtensionURDF ( const TwistControllerParams &  params )

inlineexplicit

Definition at line 38 of file kinematic_extension_urdf.h.

KinematicExtensionURDF::~KinematicExtensionURDF ( )

inline

Definition at line 42 of file kinematic_extension_urdf.h.

Member Function Documentation

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

virtual

compose jac_full considering kinematical extension

get required transformations

angular velocities

linear velocities

explicit form of jacobian

Implements KinematicExtensionBase.

Definition at line 77 of file kinematic_extension_urdf.cpp.

JointStates KinematicExtensionURDF::adjustJointStates ( const JointStates &  joint_states )

virtual

Implements KinematicExtensionBase.

Definition at line 182 of file kinematic_extension_urdf.cpp.

LimiterParams KinematicExtensionURDF::adjustLimiterParams ( const LimiterParams &  limiter_params )

virtual

Implements KinematicExtensionBase.

Definition at line 209 of file kinematic_extension_urdf.cpp.

bool KinematicExtensionURDF::initExtension ( )

virtual

parse robot_description and generate KDL chains

parse robot_description and set velocity limits

Implements KinematicExtensionBase.

Reimplemented in KinematicExtensionTorso.

Definition at line 24 of file kinematic_extension_urdf.cpp.

void KinematicExtensionURDF::jointstateCallback

(

const sensor_msgs::JointState::ConstPtr &

msg

)

Definition at line 234 of file kinematic_extension_urdf.cpp.

void KinematicExtensionURDF::processResultExtension ( const KDL::JntArray &  q_dot_ik )

virtual

Implements KinematicExtensionBase.

Definition at line 222 of file kinematic_extension_urdf.cpp.

Member Data Documentation

KDL::Chain KinematicExtensionURDF::chain_

protected

Definition at line 58 of file kinematic_extension_urdf.h.

ros::Publisher KinematicExtensionURDF::command_pub_

protected

Definition at line 53 of file kinematic_extension_urdf.h.

std::string KinematicExtensionURDF::ext_base_

protected

Definition at line 56 of file kinematic_extension_urdf.h.

unsigned int KinematicExtensionURDF::ext_dof_

protected

Definition at line 59 of file kinematic_extension_urdf.h.

std::string KinematicExtensionURDF::ext_tip_

protected

Definition at line 57 of file kinematic_extension_urdf.h.

std::vector<std::string> KinematicExtensionURDF::joint_names_

protected

Definition at line 60 of file kinematic_extension_urdf.h.

ros::Subscriber KinematicExtensionURDF::joint_state_sub_

protected

Definition at line 54 of file kinematic_extension_urdf.h.

JointStates KinematicExtensionURDF::joint_states_

protected

Definition at line 61 of file kinematic_extension_urdf.h.

std::vector<double> KinematicExtensionURDF::limits_acc_

protected

Definition at line 65 of file kinematic_extension_urdf.h.

std::vector<double> KinematicExtensionURDF::limits_max_

protected

Definition at line 62 of file kinematic_extension_urdf.h.

std::vector<double> KinematicExtensionURDF::limits_min_

protected

Definition at line 63 of file kinematic_extension_urdf.h.

std::vector<double> KinematicExtensionURDF::limits_vel_

protected

Definition at line 64 of file kinematic_extension_urdf.h.

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

• kinematic_extension_urdf.h
• kinematic_extension_urdf.cpp