#include <tree.h>

Public Member Functions
void	addEfforts (const KDL::JntArray &)
	add to the commanded joint efforts of the tree's joints from a KDL::JntArray More...

template<class Vec >
void	addEfforts (const Vec &)
	add to the commanded joint efforts of the tree's joints from any type that implements size() and [] lookup More...

bool	allCalibrated () const
	returns true, if all the joints in the tree are calibrated More...

void	getEfforts (KDL::JntArray &) const
	get the measured joint efforts of the tree's joints as a KDL::JntArray More...

template<class Vec >
void	getEfforts (Vec &) const
	get the measured joint efforts of the tree's joints as any type with size() and [] lookup More...

JointState *	getJoint (unsigned int) const
	returns a pointer to the joint state of a joint in the list of the tree's actuated joints (index starts at 0) More...

void	getPositions (KDL::JntArray &) const
	get the position of the joints of the tree as a KDL::JntArray More...

template<class Vec >
void	getPositions (Vec &) const
	get the position of the joints of the tree as any type with size() and [] lookup More...

void	getVelocities (KDL::JntArrayVel &) const
	get the velocities of the joints of the tree as a KDL::JntArrayVel (fills in the positions, too) More...

template<class Vec >
void	getVelocities (Vec &) const
	get the velocities of the joints of the tree as any type with size() and [] lookup More...

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. More...

void	setEfforts (const KDL::JntArray &)
	set the commanded joint efforts of the tree's joints from a KDL::JntArray More...

template<class Vec >
void	setEfforts (const Vec &)
	set the commanded joint efforts of the tree's joints from any type that implements size() and [] lookup More...

int	size () const
	returns the number of actuated joints in the tree More...

void	toKdl (KDL::Tree &) const
	get a KDL::Tree object that respresents the tree More...

	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) More...

KDL::Tree	kdl_tree_

Detailed Description

Definition at line 52 of file tree.h.

Constructor & Destructor Documentation

◆ Tree()

pr2_mechanism_model::Tree::Tree ( )

inline

Definition at line 55 of file tree.h.

◆ ~Tree()

pr2_mechanism_model::Tree::~Tree ( )

inline

Definition at line 56 of file tree.h.

Member Function Documentation

◆ addEfforts() [1/2]

void pr2_mechanism_model::Tree::addEfforts ( const KDL::JntArray & efforts )

inline

add to the commanded joint efforts of the tree's joints from a KDL::JntArray

Definition at line 186 of file tree.h.

◆ addEfforts() [2/2]

template<class Vec >

void pr2_mechanism_model::Tree::addEfforts ( const Vec & v )

inline

add to the commanded joint efforts of the tree's joints from any type that implements size() and [] lookup

Definition at line 194 of file tree.h.

◆ allCalibrated()

bool pr2_mechanism_model::Tree::allCalibrated ( ) const

inline

returns true, if all the joints in the tree are calibrated

Definition at line 201 of file tree.h.

◆ getEfforts() [1/2]

void pr2_mechanism_model::Tree::getEfforts ( KDL::JntArray & efforts ) const

inline

get the measured joint efforts of the tree's joints as a KDL::JntArray

Definition at line 156 of file tree.h.

◆ getEfforts() [2/2]

template<class Vec >

void pr2_mechanism_model::Tree::getEfforts ( Vec & v ) const

inline

get the measured joint efforts of the tree's joints as any type with size() and [] lookup

Definition at line 164 of file tree.h.

◆ getJoint()

JointState * pr2_mechanism_model::Tree::getJoint ( unsigned int actuated_joint_i ) const

inline

returns a pointer to the joint state of a joint in the list of the tree's actuated joints (index starts at 0)

Definition at line 216 of file tree.h.

◆ getPositions() [1/2]

void pr2_mechanism_model::Tree::getPositions ( KDL::JntArray & positions ) const

inline

get the position of the joints of the tree as a KDL::JntArray

Definition at line 122 of file tree.h.

◆ getPositions() [2/2]

template<class Vec >

void pr2_mechanism_model::Tree::getPositions ( Vec & v ) const

inline

get the position of the joints of the tree as any type with size() and [] lookup

Definition at line 130 of file tree.h.

◆ getVelocities() [1/2]

void pr2_mechanism_model::Tree::getVelocities ( KDL::JntArrayVel & velocities ) const

inline

get the velocities of the joints of the tree as a KDL::JntArrayVel (fills in the positions, too)

Definition at line 137 of file tree.h.

◆ getVelocities() [2/2]

template<class Vec >

void pr2_mechanism_model::Tree::getVelocities ( Vec & v ) const

inline

get the velocities of the joints of the tree as any type with size() and [] lookup

Definition at line 149 of file tree.h.

◆ init()

bool pr2_mechanism_model::Tree::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.

Parameters

robot_state the robot state object containing the robot model and the state of each joint in the robot

Definition at line 45 of file tree.cpp.

◆ setEfforts() [1/2]

void pr2_mechanism_model::Tree::setEfforts ( const KDL::JntArray & efforts )

inline

set the commanded joint efforts of the tree's joints from a KDL::JntArray

Definition at line 171 of file tree.h.

◆ setEfforts() [2/2]

template<class Vec >

void pr2_mechanism_model::Tree::setEfforts ( const Vec & v )

inline

set the commanded joint efforts of the tree's joints from any type that implements size() and [] lookup

Definition at line 179 of file tree.h.

◆ size()

int pr2_mechanism_model::Tree::size ( ) const

inline

returns the number of actuated joints in the tree

Definition at line 224 of file tree.h.

◆ toKdl()

void pr2_mechanism_model::Tree::toKdl ( KDL::Tree & tree ) const

inline

get a KDL::Tree object that respresents the tree

Definition at line 211 of file tree.h.

Member Data Documentation

◆ joints_

std::vector<JointState*> pr2_mechanism_model::Tree::joints_

private

a vector of pointers to joint states; includes only the ones that can be actuated (not fixed joints)

Definition at line 119 of file tree.h.

◆ kdl_tree_

KDL::Tree pr2_mechanism_model::Tree::kdl_tree_

private

Definition at line 117 of file tree.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Tree()

◆ ~Tree()

Member Function Documentation

◆ addEfforts() [1/2]

◆ addEfforts() [2/2]

◆ allCalibrated()

◆ getEfforts() [1/2]

◆ getEfforts() [2/2]

◆ getJoint()

◆ getPositions() [1/2]

◆ getPositions() [2/2]

◆ getVelocities() [1/2]

◆ getVelocities() [2/2]

◆ init()

◆ setEfforts() [1/2]

◆ setEfforts() [2/2]

◆ size()

◆ toKdl()

Member Data Documentation

◆ joints_

◆ kdl_tree_