#include <chain.h>
Definition at line 43 of file chain.h.
◆ Chain()
| pr2_mechanism_model::Chain::Chain |
( |
| ) |
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inline |
◆ ~Chain()
| pr2_mechanism_model::Chain::~Chain |
( |
| ) |
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inline |
◆ addEfforts() [1/2]
set the commanded joint efforts of the chain as a kdl jnt array
Definition at line 157 of file chain.cpp.
◆ addEfforts() [2/2]
template<class Vec >
| void pr2_mechanism_model::Chain::addEfforts |
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const Vec & |
v | ) |
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inline |
Adds efforts from any type that implements size() and [] lookup.
Definition at line 99 of file chain.h.
◆ allCalibrated()
| bool pr2_mechanism_model::Chain::allCalibrated |
( |
| ) |
|
returns true if all the joints in the chain are calibrated
Definition at line 110 of file chain.cpp.
◆ getEfforts() [1/2]
| void pr2_mechanism_model::Chain::getEfforts |
( |
std::vector< double > & |
efforts | ) |
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get the measured joint efforts of the chain as a std vector
Definition at line 101 of file chain.cpp.
◆ getEfforts() [2/2]
get the measured joint efforts of the chain as a kdl jnt array
Definition at line 143 of file chain.cpp.
◆ getJoint()
| JointState * pr2_mechanism_model::Chain::getJoint |
( |
unsigned int |
actuated_joint_i | ) |
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get a joint state of an actuated joint of the chain.
the actuated_joint_i index starts at zero fixed joints are ignored in the list of actuated joints
Definition at line 165 of file chain.cpp.
◆ getPositions() [1/3]
| void pr2_mechanism_model::Chain::getPositions |
( |
std::vector< double > & |
positions | ) |
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get the joint positions of the chain as a std vector
Definition at line 83 of file chain.cpp.
◆ getPositions() [2/3]
| void pr2_mechanism_model::Chain::getPositions |
( |
KDL::JntArray & |
a | ) |
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get the joint positions of the chain as a kdl jnt array
Definition at line 126 of file chain.cpp.
◆ getPositions() [3/3]
template<class Vec >
| void pr2_mechanism_model::Chain::getPositions |
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Vec & |
v | ) |
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inline |
gets the joint positions of the chain as any type with size() and []
Definition at line 64 of file chain.h.
◆ getVelocities() [1/3]
| void pr2_mechanism_model::Chain::getVelocities |
( |
std::vector< double > & |
velocities | ) |
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get the joint velocities of the chain as a std vector
Definition at line 92 of file chain.cpp.
◆ getVelocities() [2/3]
get the joint velocities and positoin of the chain as a kdl jnt array vel. Fills in the positions too.
Definition at line 133 of file chain.cpp.
◆ getVelocities() [3/3]
template<class Vec >
| void pr2_mechanism_model::Chain::getVelocities |
( |
Vec & |
v | ) |
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inline |
gets the joint velocities of the chain as any type with size() and []
Definition at line 77 of file chain.h.
◆ init()
| bool pr2_mechanism_model::Chain::init |
( |
RobotState * |
robot_state, |
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const std::string & |
root, |
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const std::string & |
tip |
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) |
| |
initialize the chain object
- Parameters
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| robot_state | the robot state object containing the robot model and the state of each joint in the robot |
| root | the name of the root link of the chain |
| tip | the name of the tip link of the chain |
Definition at line 40 of file chain.cpp.
◆ setEfforts()
set the commanded joint efforts of the chain as a std vector
Definition at line 150 of file chain.cpp.
◆ size()
| int pr2_mechanism_model::Chain::size |
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| ) |
const |
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inline |
Returns the number of actuated joints in the chain.
Definition at line 120 of file chain.h.
◆ toKDL()
| void pr2_mechanism_model::Chain::toKDL |
( |
KDL::Chain & |
chain | ) |
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get a kdl chain object that respresents the chain from root to tip
Definition at line 120 of file chain.cpp.
◆ joints_
| std::vector< JointState* > pr2_mechanism_model::Chain::joints_ |
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private |
◆ kdl_chain_
◆ robot_state_
The documentation for this class was generated from the following files: