kdl_utils.h File Reference

Tesseract KDL utility functions. More...

#include <tesseract_common/macros.h>
#include <kdl/frames.hpp>
#include <kdl/jntarray.hpp>
#include <kdl/tree.hpp>
#include <kdl/chain.hpp>
#include <Eigen/Geometry>
#include <tesseract_scene_graph/fwd.h>

Include dependency graph for kdl_utils.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
struct	tesseract_kinematics::KDLChainData
	The KDLChainData struct. More...

Namespaces
	tesseract_kinematics

Functions
void	tesseract_kinematics::EigenToKDL (const Eigen::Isometry3d &transform, KDL::Frame &frame)
	Convert Eigen::Isometry3d to KDL::Frame. More...
void	tesseract_kinematics::EigenToKDL (const Eigen::Ref< const Eigen::VectorXd > &vec, KDL::JntArray &joints)
	Convert Eigen::Vector to KDL::JntArray. More...
void	tesseract_kinematics::KDLToEigen (const KDL::Frame &frame, Eigen::Isometry3d &transform)
	Convert KDL::Frame to Eigen::Isometry3d. More...
void	tesseract_kinematics::KDLToEigen (const KDL::Jacobian &jacobian, const std::vector< int > &q_nrs, Eigen::Ref< Eigen::MatrixXd > matrix)
	Convert a subset of KDL::Jacobian to Eigen::Matrix. More...
void	tesseract_kinematics::KDLToEigen (const KDL::Jacobian &jacobian, Eigen::Ref< Eigen::MatrixXd > matrix)
	Convert KDL::Jacobian to Eigen::Matrix. More...
void	tesseract_kinematics::KDLToEigen (const KDL::JntArray &joints, Eigen::Ref< Eigen::VectorXd > vec)
	Convert KDL::JntArray to Eigen::Vector. More...
bool	tesseract_kinematics::parseSceneGraph (KDLChainData &results, const tesseract_scene_graph::SceneGraph &scene_graph, const std::string &base_name, const std::string &tip_name)
	Parse KDL chain data from the scene graph. More...
bool	tesseract_kinematics::parseSceneGraph (KDLChainData &results, const tesseract_scene_graph::SceneGraph &scene_graph, const std::vector< std::pair< std::string, std::string >> &chains)
	Parse KDL chain data from the scene graph. More...

Detailed Description

Tesseract KDL utility functions.

Author

Levi Armstrong

Date

May 27, 2018

Version

TODO

Bug:

No known bugs

Copyright

Copyright (c) 2017, Southwest Research Institute

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Definition in file kdl_utils.h.