#include <Kinematics.h>

Inheritance diagram for hrl_kinematics::Kinematics:

Classes
class	InitFailed
Public Types
enum	FootSupport { SUPPORT_DOUBLE, SUPPORT_SINGLE_RIGHT, SUPPORT_SINGLE_LEFT }
Public Member Functions
void	computeCOM (const JointMap &joint_positions, tf::Point &com, double &mass, tf::Transform &tf_right_foot, tf::Transform &tf_left_foot)
	Kinematics ()
virtual	~Kinematics ()
Protected Member Functions
void	addChildren (const KDL::SegmentMap::const_iterator segment)
void	computeCOMRecurs (const KDL::SegmentMap::const_iterator &currentSeg, const std::map< std::string, double > &joint_positions, const KDL::Frame &tf, KDL::Frame &tf_right_foot, KDL::Frame &tf_left_foot, double &m, KDL::Vector &cog)
void	createCoGMarker (const std::string &ns, const std::string &frame_id, double radius, const KDL::Vector &cog, visualization_msgs::Marker &marker) const
bool	loadModel (const std::string xml)
Protected Attributes
KDL::Chain	kdl_chain_left_
KDL::Chain	kdl_chain_right_
KDL::Tree	kdl_tree_
std::string	lfoot_link_name_
ros::NodeHandle	nh_
ros::NodeHandle	nh_private_
unsigned int	num_joints_
std::string	rfoot_link_name_
std::string	root_link_name_
std::map< std::string, robot_state_publisher::SegmentPair >	segments_
urdf::Model	urdf_model_

Detailed Description

Class to compute the center of mass while recursively traversing a kinematic tree of a robot (from URDF)

Definition at line 68 of file Kinematics.h.

Member Enumeration Documentation

enum hrl_kinematics::Kinematics::FootSupport

Enumerator:

SUPPORT_DOUBLE
SUPPORT_SINGLE_RIGHT
SUPPORT_SINGLE_LEFT

Definition at line 70 of file Kinematics.h.

Constructor & Destructor Documentation

hrl_kinematics::Kinematics::Kinematics ( )

Definition at line 41 of file Kinematics.cpp.

hrl_kinematics::Kinematics::~Kinematics ( ) [virtual]

Definition at line 66 of file Kinematics.cpp.

Member Function Documentation

void hrl_kinematics::Kinematics::addChildren ( const KDL::SegmentMap::const_iterator segment ) [protected]

Definition at line 100 of file Kinematics.cpp.

void hrl_kinematics::Kinematics::computeCOM	(	const JointMap &	joint_positions,
		tf::Point &	com,
		double &	mass,
		tf::Transform &	tf_right_foot,
		tf::Transform &	tf_left_foot
	)

Computes the center of mass of the given robot structure and joint configuration. Will also return the 6D transformations to the feet while traversing the robot tree

Parameters:

[in]	joint_positions	angles of all joints
[out]	com	the computed center of mass in the root coordinate frame (base_link)
[out]	mass	total mass of all joints
[out]	tf_right_foot	returned transformation from body reference frame to right foot
[out]	tf_left_foot	returned transformation from body reference frame to left foot

Definition at line 186 of file Kinematics.cpp.

void hrl_kinematics::Kinematics::computeCOMRecurs	(	const KDL::SegmentMap::const_iterator &	currentSeg,
		const std::map< std::string, double > &	joint_positions,
		const KDL::Frame &	tf,
		KDL::Frame &	tf_right_foot,
		KDL::Frame &	tf_left_foot,
		double &	m,
		KDL::Vector &	cog
	)		`[protected]`

Definition at line 137 of file Kinematics.cpp.

void hrl_kinematics::Kinematics::createCoGMarker	(	const std::string &	ns,
		const std::string &	frame_id,
		double	radius,
		const KDL::Vector &	cog,
		visualization_msgs::Marker &	marker
	)		const `[protected]`