#include <tree.h>
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void | addEfforts (const KDL::JntArray &) |
| add to the commanded joint efforts of the tree's joints from a KDL::JntArray More...
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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...
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bool | allCalibrated () const |
| returns true, if all the joints in the tree are calibrated More...
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void | getEfforts (KDL::JntArray &) const |
| get the measured joint efforts of the tree's joints as a KDL::JntArray More...
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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...
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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...
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void | getPositions (KDL::JntArray &) const |
| get the position of the joints of the tree as a KDL::JntArray More...
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template<class Vec > |
void | getPositions (Vec &) const |
| get the position of the joints of the tree as any type with size() and [] lookup More...
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void | getVelocities (KDL::JntArrayVel &) const |
| get the velocities of the joints of the tree as a KDL::JntArrayVel (fills in the positions, too) More...
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template<class Vec > |
void | getVelocities (Vec &) const |
| get the velocities of the joints of the tree as any type with size() and [] lookup More...
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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...
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void | setEfforts (const KDL::JntArray &) |
| set the commanded joint efforts of the tree's joints from a KDL::JntArray More...
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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...
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int | size () const |
| returns the number of actuated joints in the tree More...
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void | toKdl (KDL::Tree &) const |
| get a KDL::Tree object that respresents the tree More...
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| Tree () |
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| ~Tree () |
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Definition at line 52 of file tree.h.
◆ Tree()
pr2_mechanism_model::Tree::Tree |
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◆ ~Tree()
pr2_mechanism_model::Tree::~Tree |
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◆ addEfforts() [1/2]
void pr2_mechanism_model::Tree::addEfforts |
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const KDL::JntArray & |
efforts | ) |
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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 |
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const Vec & |
v | ) |
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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 |
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const |
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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 |
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KDL::JntArray & |
efforts | ) |
const |
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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 |
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Vec & |
v | ) |
const |
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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 |
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unsigned int |
actuated_joint_i | ) |
const |
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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 |
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KDL::JntArray & |
positions | ) |
const |
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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 |
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Vec & |
v | ) |
const |
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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 |
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KDL::JntArrayVel & |
velocities | ) |
const |
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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 |
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Vec & |
v | ) |
const |
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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 |
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RobotState * |
robot_state | ) |
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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
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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 |
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const KDL::JntArray & |
efforts | ) |
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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 |
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const Vec & |
v | ) |
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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 |
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const |
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returns the number of actuated joints in the tree
Definition at line 224 of file tree.h.
◆ toKdl()
void pr2_mechanism_model::Tree::toKdl |
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KDL::Tree & |
tree | ) |
const |
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get a KDL::Tree object that respresents the tree
Definition at line 211 of file tree.h.
◆ joints_
std::vector<JointState*> pr2_mechanism_model::Tree::joints_ |
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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_ |
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private |
The documentation for this class was generated from the following files: