exotica::KinematicElement Class Reference

#include <kinematic_element.h>

Public Member Functions
KDL::Frame	GetPose (const double &x=0.0)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	KinematicElement (int _id, std::shared_ptr< KinematicElement > _parent, const KDL::Segment &_segment)
void	RemoveExpiredChildren ()
void	UpdateClosestRobotLink ()
	~KinematicElement ()

Public Attributes
double	acceleration_limit = std::numeric_limits<double>::quiet_NaN()
std::vector< std::weak_ptr< KinematicElement > >	children
std::weak_ptr< KinematicElement >	closest_robot_link = std::shared_ptr<KinematicElement>(nullptr)
Eigen::Vector4d	color = Eigen::Vector4d(0.5, 0.5, 0.5, 1.0)
int	control_id = -1
KDL::Frame	frame = KDL::Frame::Identity()
KDL::Frame	generated_offset = KDL::Frame::Identity()
int	id
bool	is_controlled = false
bool	is_mimic_joint = false
bool	is_robot_link = false
bool	is_trajectory_generated = false
std::vector< double >	joint_limits
int	mimic_joint_id = -1
double	mimic_multiplier = 1.0
double	mimic_offset = 0.0
std::weak_ptr< KinematicElement >	parent
std::string	parent_name
Eigen::Vector3d	scale = Eigen::Vector3d::Ones()
KDL::Segment	segment = KDL::Segment()
shapes::ShapeConstPtr	shape = nullptr
std::string	shape_resource_path = std::string()
double	velocity_limit = std::numeric_limits<double>::quiet_NaN()
std::vector< VisualElement >	visual

Private Member Functions
void	SetChildrenClosestRobotLink ()

Detailed Description

Definition at line 54 of file kinematic_element.h.

Constructor & Destructor Documentation

KinematicElement()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW exotica::KinematicElement::KinematicElement ( int  _id, std::shared_ptr< KinematicElement >  _parent, const KDL::Segment &  _segment  )

inline

Definition at line 59 of file kinematic_element.h.

~KinematicElement()

exotica::KinematicElement::~KinematicElement ( )

inline

Definition at line 67 of file kinematic_element.h.

Member Function Documentation

GetPose()

KDL::Frame exotica::KinematicElement::GetPose ( const double &  x = 0.0 )

inline

Definition at line 93 of file kinematic_element.h.

RemoveExpiredChildren()

void exotica::KinematicElement::RemoveExpiredChildren ( )

inline

Definition at line 109 of file kinematic_element.h.

SetChildrenClosestRobotLink()

void exotica::KinematicElement::SetChildrenClosestRobotLink ( )

inlineprivate

Definition at line 146 of file kinematic_element.h.

UpdateClosestRobotLink()

void exotica::KinematicElement::UpdateClosestRobotLink ( )

inline

Definition at line 77 of file kinematic_element.h.

Member Data Documentation

acceleration_limit

double exotica::KinematicElement::acceleration_limit = std::numeric_limits<double>::quiet_NaN()

Definition at line 137 of file kinematic_element.h.

children

std::vector<std::weak_ptr<KinematicElement> > exotica::KinematicElement::children

Definition at line 125 of file kinematic_element.h.

closest_robot_link

std::weak_ptr<KinematicElement> exotica::KinematicElement::closest_robot_link = std::shared_ptr<KinematicElement>(nullptr)

Definition at line 126 of file kinematic_element.h.

color

Eigen::Vector4d exotica::KinematicElement::color = Eigen::Vector4d(0.5, 0.5, 0.5, 1.0)

Definition at line 142 of file kinematic_element.h.

control_id

int exotica::KinematicElement::control_id = -1

Definition at line 121 of file kinematic_element.h.

frame

KDL::Frame exotica::KinematicElement::frame = KDL::Frame::Identity()

Definition at line 128 of file kinematic_element.h.

generated_offset

KDL::Frame exotica::KinematicElement::generated_offset = KDL::Frame::Identity()

Definition at line 129 of file kinematic_element.h.

id

int exotica::KinematicElement::id

Definition at line 120 of file kinematic_element.h.

is_controlled

bool exotica::KinematicElement::is_controlled = false

Definition at line 122 of file kinematic_element.h.

is_mimic_joint

bool exotica::KinematicElement::is_mimic_joint = false

Definition at line 131 of file kinematic_element.h.

is_robot_link

bool exotica::KinematicElement::is_robot_link = false

Definition at line 141 of file kinematic_element.h.

is_trajectory_generated

bool exotica::KinematicElement::is_trajectory_generated = false

Definition at line 130 of file kinematic_element.h.

joint_limits

std::vector<double> exotica::KinematicElement::joint_limits

Definition at line 135 of file kinematic_element.h.

mimic_joint_id

int exotica::KinematicElement::mimic_joint_id = -1

Definition at line 132 of file kinematic_element.h.

mimic_multiplier

double exotica::KinematicElement::mimic_multiplier = 1.0

Definition at line 133 of file kinematic_element.h.

mimic_offset

double exotica::KinematicElement::mimic_offset = 0.0

Definition at line 134 of file kinematic_element.h.

parent

std::weak_ptr<KinematicElement> exotica::KinematicElement::parent

Definition at line 123 of file kinematic_element.h.

parent_name

std::string exotica::KinematicElement::parent_name

Definition at line 124 of file kinematic_element.h.

scale

Eigen::Vector3d exotica::KinematicElement::scale = Eigen::Vector3d::Ones()

Definition at line 140 of file kinematic_element.h.

segment

KDL::Segment exotica::KinematicElement::segment = KDL::Segment()

Definition at line 127 of file kinematic_element.h.

shape

shapes::ShapeConstPtr exotica::KinematicElement::shape = nullptr

Definition at line 138 of file kinematic_element.h.

shape_resource_path

std::string exotica::KinematicElement::shape_resource_path = std::string()

Definition at line 139 of file kinematic_element.h.

velocity_limit

double exotica::KinematicElement::velocity_limit = std::numeric_limits<double>::quiet_NaN()

Definition at line 136 of file kinematic_element.h.

visual

std::vector<VisualElement> exotica::KinematicElement::visual

Definition at line 143 of file kinematic_element.h.

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

• kinematic_element.h