Public Member Functions | Private Attributes | List of all members
pr2_mechanism_model::Tree Class Reference

#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...
 
JointStategetJoint (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_statethe 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:


pr2_mechanism_model
Author(s): Eric Berger berger@willowgarage.com, Stuart Glaser, Wim Meeussen
autogenerated on Sun Aug 16 2020 03:58:35