robot_self_filter::SelfMaskUrdfRobot Class Reference

#include <self_mask_urdf_robot.h>

Inheritance diagram for robot_self_filter::SelfMaskUrdfRobot:

Public Member Functions
void	assumeFrameFromJointAngle (const sensor_msgs::JointState &joint, const geometry_msgs::PoseStamped &pose)
bool	initKdlConfigure ()
	SelfMaskUrdfRobot (tf::TransformListener &tfl, tf::TransformBroadcaster &tfb, const std::vector< LinkInfo > &links, const urdf::Model &urdf_model, std::string root_link_id="BODY", std::string world_frame_id="map", bool set_foot_pose=false)
void	updateChain (std::map< std::string, double > &joint_angles, KDL::Chain &chain, tf::Pose &output_pose)
void	updateRobotModel (std::map< std::string, double > &joint_angles, const tf::Pose &root_pose)

Protected Attributes
std::map< std::string, KDL::Chain >	chain_map_
std::map< std::string, tf::Pose >	pose_map_
bool	publish_tf_
std::string	root_link_id_
tf::TransformBroadcaster &	tf_broadcaster_
KDL::Tree	tree_
urdf::Model	urdf_model_
std::string	world_frame_id_

Detailed Description

Definition at line 17 of file self_mask_urdf_robot.h.

Constructor & Destructor Documentation

robot_self_filter::SelfMaskUrdfRobot::SelfMaskUrdfRobot ( tf::TransformListener &  tfl, tf::TransformBroadcaster &  tfb, const std::vector< LinkInfo > &  links, const urdf::Model &  urdf_model, std::string  root_link_id = "BODY", std::string  world_frame_id = "map", bool  set_foot_pose = false  )

inline

Definition at line 20 of file self_mask_urdf_robot.h.

Member Function Documentation

void robot_self_filter::SelfMaskUrdfRobot::assumeFrameFromJointAngle ( const sensor_msgs::JointState &  joint, const geometry_msgs::PoseStamped &  pose  )

inline

Definition at line 111 of file self_mask_urdf_robot.h.

bool robot_self_filter::SelfMaskUrdfRobot::initKdlConfigure ( )

inline

Definition at line 38 of file self_mask_urdf_robot.h.

void robot_self_filter::SelfMaskUrdfRobot::updateChain ( std::map< std::string, double > &  joint_angles, KDL::Chain &  chain, tf::Pose &  output_pose  )

inline

Definition at line 57 of file self_mask_urdf_robot.h.

void robot_self_filter::SelfMaskUrdfRobot::updateRobotModel ( std::map< std::string, double > &  joint_angles, const tf::Pose &  root_pose  )

inline

Definition at line 77 of file self_mask_urdf_robot.h.

Member Data Documentation

std::map<std::string, KDL::Chain> robot_self_filter::SelfMaskUrdfRobot::chain_map_

protected

Definition at line 135 of file self_mask_urdf_robot.h.

std::map<std::string, tf::Pose> robot_self_filter::SelfMaskUrdfRobot::pose_map_

protected

Definition at line 136 of file self_mask_urdf_robot.h.

bool robot_self_filter::SelfMaskUrdfRobot::publish_tf_

protected

Definition at line 140 of file self_mask_urdf_robot.h.

std::string robot_self_filter::SelfMaskUrdfRobot::root_link_id_

protected

Definition at line 139 of file self_mask_urdf_robot.h.

tf::TransformBroadcaster& robot_self_filter::SelfMaskUrdfRobot::tf_broadcaster_

protected

Definition at line 137 of file self_mask_urdf_robot.h.

KDL::Tree robot_self_filter::SelfMaskUrdfRobot::tree_

protected

Definition at line 134 of file self_mask_urdf_robot.h.

urdf::Model robot_self_filter::SelfMaskUrdfRobot::urdf_model_

protected

Definition at line 133 of file self_mask_urdf_robot.h.

std::string robot_self_filter::SelfMaskUrdfRobot::world_frame_id_

protected

Definition at line 138 of file self_mask_urdf_robot.h.

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

• self_mask_urdf_robot.h