Public Member Functions | Private Attributes
planning_models::KinematicState::JointStateGroup Class Reference

#include <kinematic_state.h>

List of all members.

Public Member Functions

unsigned int getDimension () const
const
KinematicModel::JointModelGroup
getJointModelGroup ()
const std::vector< std::string > & getJointNames () const
const std::vector< JointState * > & getJointRoots () const
JointStategetJointState (const std::string &joint) const
 Get a joint state by its name.
const std::vector< JointState * > & getJointStateVector () const
const std::map< std::string,
unsigned int > & 
getKinematicStateIndexMap () const
void getKinematicStateValues (std::vector< double > &joint_state_values) const
void getKinematicStateValues (std::map< std::string, double > &joint_state_values) const
const std::string & getName () const
bool hasJointState (const std::string &joint) const
 Check if a joint is part of this group.
 JointStateGroup (const KinematicModel::JointModelGroup *jmg, const KinematicState *owner)
bool setKinematicState (const std::vector< double > &joint_state_values)
 Perform forward kinematics starting at the roots within a group. Links that are not in the group are also updated, but transforms for joints that are not in the group are not recomputed.
bool setKinematicState (const std::map< std::string, double > &joint_state_map)
 Perform forward kinematics starting at the roots within a group. Links that are not in the group are also updated, but transforms for joints that are not in the group are not recomputed.
void setKinematicStateToDefault ()
 Bring the group to a default state. All joints are at 0. If 0 is not within the bounds of the joint, the middle of the bounds is used.
void updateKinematicLinks ()
bool updatesLinkState (const std::string &joint) const
 Check if a link is updated by this group.
 ~JointStateGroup (void)

Private Attributes

unsigned int dimension_
const
KinematicModel::JointModelGroup
joint_model_group_
std::vector< std::string > joint_names_
 Names of joints in the order they appear in the group state.
std::vector< JointState * > joint_roots_
 The list of joints that are roots in this group.
std::map< std::string,
JointState * > 
joint_state_map_
 A map from joint names to their instances.
std::vector< JointState * > joint_state_vector_
 Joint instances in the order they appear in the group state.
boost::shared_ptr< KinematicModelkinematic_model_
 The kinematic model that owns the group.
std::map< std::string,
unsigned int > 
kinematic_state_index_map_
std::vector< LinkState * > updated_links_
 The list of links that are updated when computeTransforms() is called, in the order they are updated.

Detailed Description

Definition at line 282 of file kinematic_state.h.


Constructor & Destructor Documentation

Definition at line 573 of file kinematic_state.cpp.

Definition at line 290 of file kinematic_state.h.


Member Function Documentation

Definition at line 303 of file kinematic_state.h.

Definition at line 294 of file kinematic_state.h.

const std::vector<std::string>& planning_models::KinematicState::JointStateGroup::getJointNames ( ) const [inline]

Definition at line 351 of file kinematic_state.h.

Definition at line 341 of file kinematic_state.h.

Get a joint state by its name.

Definition at line 705 of file kinematic_state.cpp.

Definition at line 356 of file kinematic_state.h.

const std::map<std::string, unsigned int>& planning_models::KinematicState::JointStateGroup::getKinematicStateIndexMap ( ) const [inline]

Definition at line 346 of file kinematic_state.h.

void planning_models::KinematicState::JointStateGroup::getKinematicStateValues ( std::vector< double > &  joint_state_values) const

Definition at line 675 of file kinematic_state.cpp.

void planning_models::KinematicState::JointStateGroup::getKinematicStateValues ( std::map< std::string, double > &  joint_state_values) const

Definition at line 690 of file kinematic_state.cpp.

const std::string& planning_models::KinematicState::JointStateGroup::getName ( void  ) const [inline]

Definition at line 298 of file kinematic_state.h.

bool planning_models::KinematicState::JointStateGroup::hasJointState ( const std::string &  joint) const

Check if a joint is part of this group.

Definition at line 612 of file kinematic_state.cpp.

bool planning_models::KinematicState::JointStateGroup::setKinematicState ( const std::vector< double > &  joint_state_values)

Perform forward kinematics starting at the roots within a group. Links that are not in the group are also updated, but transforms for joints that are not in the group are not recomputed.

Definition at line 624 of file kinematic_state.cpp.

bool planning_models::KinematicState::JointStateGroup::setKinematicState ( const std::map< std::string, double > &  joint_state_map)

Perform forward kinematics starting at the roots within a group. Links that are not in the group are also updated, but transforms for joints that are not in the group are not recomputed.

Definition at line 645 of file kinematic_state.cpp.

Bring the group to a default state. All joints are at 0. If 0 is not within the bounds of the joint, the middle of the bounds is used.

Definition at line 663 of file kinematic_state.cpp.

compute transforms using current joint values

Definition at line 656 of file kinematic_state.cpp.

bool planning_models::KinematicState::JointStateGroup::updatesLinkState ( const std::string &  joint) const

Check if a link is updated by this group.

Definition at line 616 of file kinematic_state.cpp.


Member Data Documentation

Definition at line 368 of file kinematic_state.h.

Definition at line 366 of file kinematic_state.h.

Names of joints in the order they appear in the group state.

Definition at line 372 of file kinematic_state.h.

The list of joints that are roots in this group.

Definition at line 381 of file kinematic_state.h.

A map from joint names to their instances.

Definition at line 378 of file kinematic_state.h.

Joint instances in the order they appear in the group state.

Definition at line 375 of file kinematic_state.h.

The kinematic model that owns the group.

Definition at line 364 of file kinematic_state.h.

Definition at line 369 of file kinematic_state.h.

The list of links that are updated when computeTransforms() is called, in the order they are updated.

Definition at line 384 of file kinematic_state.h.


The documentation for this class was generated from the following files:


planning_models
Author(s): Ioan Sucan/isucan@willowgarage.com
autogenerated on Mon Dec 2 2013 12:33:38