darwin_kinematics_alg.cpp
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00001 #include "darwin_kinematics_alg.h"
00002 
00003 DarwinKinematicsAlgorithm::DarwinKinematicsAlgorithm(void):
00004   left_arm(LEFT_ARM),
00005   right_arm(RIGHT_ARM)
00006 {
00007 }
00008 
00009 DarwinKinematicsAlgorithm::~DarwinKinematicsAlgorithm(void)
00010 {
00011 }
00012 
00013 void DarwinKinematicsAlgorithm::config_update(Config& new_cfg, uint32_t level)
00014 {
00015   this->lock();
00016 
00017   // save the current configuration
00018   this->config_=new_cfg;
00019   
00020   this->unlock();
00021 }
00022 
00023 // DarwinKinematicsAlgorithm Public API
00024 std::vector<double> DarwinKinematicsAlgorithm::get_left_arm_fk(std::vector<double> &angles)
00025 {
00026   return this->left_arm.get_fk(angles);
00027 }
00028 
00029 bool DarwinKinematicsAlgorithm::get_left_arm_ik(std::vector<double> &position, std::vector<double> &init_angles,std::vector<double> &solution)
00030 {
00031   return this->left_arm.get_ik(position,init_angles,solution);
00032 }
00033 
00034 void DarwinKinematicsAlgorithm::get_left_arm_upper_limits(std::vector<double> &upper)
00035 {
00036   this->left_arm.get_upper_limits(upper);
00037 }
00038 
00039 void DarwinKinematicsAlgorithm::get_left_arm_lower_limits(std::vector<double> &lower)
00040 {
00041   this->left_arm.get_lower_limits(lower);
00042 }
00043 
00044 std::vector<double> DarwinKinematicsAlgorithm::get_right_arm_fk(std::vector<double> &angles)
00045 {
00046   return this->right_arm.get_fk(angles);
00047 }
00048 
00049 bool DarwinKinematicsAlgorithm::get_right_arm_ik(std::vector<double> &position, std::vector<double> &init_angles,std::vector<double> &solution)
00050 {
00051   return this->right_arm.get_ik(position,init_angles,solution);
00052 }
00053 
00054 void DarwinKinematicsAlgorithm::get_right_arm_upper_limits(std::vector<double> &upper)
00055 {
00056   this->right_arm.get_upper_limits(upper);
00057 }
00058 
00059 void DarwinKinematicsAlgorithm::get_right_arm_lower_limits(std::vector<double> &lower)
00060 {
00061   this->right_arm.get_lower_limits(lower);
00062 }
00063 
00064 


iri_darwin_kinematics
Author(s): Sergi Hernandez Juan
autogenerated on Fri Dec 6 2013 20:52:58