#include <chain.h>
Public Member Functions | |
void | addEfforts (KDL::JntArray &) |
set the commanded joint efforts of the chain as a kdl jnt array | |
template<class Vec > | |
void | addEfforts (const Vec &v) |
Adds efforts from any type that implements size() and [] lookup. | |
bool | allCalibrated () |
returns true if all the joints in the chain are calibrated | |
Chain () | |
void | getEfforts (std::vector< double > &) |
get the measured joint efforts of the chain as a std vector | |
void | getEfforts (KDL::JntArray &) |
get the measured joint efforts of the chain as a kdl jnt array | |
JointState * | getJoint (unsigned int actuated_joint_i) |
get a joint state of an actuated joint of the chain. | |
void | getPositions (std::vector< double > &) |
get the joint positions of the chain as a std vector | |
void | getPositions (KDL::JntArray &) |
get the joint positions of the chain as a kdl jnt array | |
template<class Vec > | |
void | getPositions (Vec &v) |
gets the joint positions of the chain as any type with size() and [] | |
void | getVelocities (std::vector< double > &) |
get the joint velocities of the chain as a std vector | |
void | getVelocities (KDL::JntArrayVel &) |
get the joint velocities and positoin of the chain as a kdl jnt array vel. Fills in the positions too. | |
template<class Vec > | |
void | getVelocities (Vec &v) |
gets the joint velocities of the chain as any type with size() and [] | |
bool | init (RobotState *robot_state, const std::string &root, const std::string &tip) |
initialize the chain object | |
void | setEfforts (KDL::JntArray &) |
set the commanded joint efforts of the chain as a std vector | |
int | size () const |
Returns the number of actuated joints in the chain. | |
void | toKDL (KDL::Chain &chain) |
get a kdl chain object that respresents the chain from root to tip | |
~Chain () | |
Private Attributes | |
std::vector< JointState * > | joints_ |
KDL::Chain | kdl_chain_ |
pr2_mechanism_model::RobotState * | robot_state_ |
pr2_mechanism_model::Chain::Chain | ( | ) | [inline] |
pr2_mechanism_model::Chain::~Chain | ( | ) | [inline] |
void pr2_mechanism_model::Chain::addEfforts | ( | KDL::JntArray & | a | ) |
void pr2_mechanism_model::Chain::addEfforts | ( | const Vec & | v | ) | [inline] |
void pr2_mechanism_model::Chain::getEfforts | ( | std::vector< double > & | efforts | ) |
void pr2_mechanism_model::Chain::getEfforts | ( | KDL::JntArray & | a | ) |
JointState * pr2_mechanism_model::Chain::getJoint | ( | unsigned int | actuated_joint_i | ) |
void pr2_mechanism_model::Chain::getPositions | ( | std::vector< double > & | positions | ) |
void pr2_mechanism_model::Chain::getPositions | ( | KDL::JntArray & | a | ) |
void pr2_mechanism_model::Chain::getPositions | ( | Vec & | v | ) | [inline] |
void pr2_mechanism_model::Chain::getVelocities | ( | std::vector< double > & | velocities | ) |
void pr2_mechanism_model::Chain::getVelocities | ( | Vec & | v | ) | [inline] |
bool pr2_mechanism_model::Chain::init | ( | RobotState * | robot_state, |
const std::string & | root, | ||
const std::string & | tip | ||
) |
void pr2_mechanism_model::Chain::setEfforts | ( | KDL::JntArray & | a | ) |
int pr2_mechanism_model::Chain::size | ( | ) | const [inline] |
void pr2_mechanism_model::Chain::toKDL | ( | KDL::Chain & | chain | ) |
std::vector< JointState* > pr2_mechanism_model::Chain::joints_ [private] |