Public Member Functions |
void | addEfforts (KDL::JntArray &) |
| set the commanded joint efforts of the chain as a kdl jnt array
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template<class Vec > |
void | addEfforts (const Vec &v) |
| Adds efforts from any type that implements size() and [] lookup.
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bool | allCalibrated () |
| returns true if all the joints in the chain are calibrated
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| Chain () |
void | getEfforts (std::vector< double > &) |
| get the measured joint efforts of the chain as a std vector
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void | getEfforts (KDL::JntArray &) |
| get the measured joint efforts of the chain as a kdl jnt array
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JointState * | getJoint (unsigned int actuated_joint_i) |
| get a joint state of an actuated joint of the chain.
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void | getPositions (std::vector< double > &) |
| get the joint positions of the chain as a std vector
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void | getPositions (KDL::JntArray &) |
| get the joint positions of the chain as a kdl jnt array
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template<class Vec > |
void | getPositions (Vec &v) |
| gets the joint positions of the chain as any type with size() and []
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void | getVelocities (std::vector< double > &) |
| get the joint velocities of the chain as a std vector
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void | getVelocities (KDL::JntArrayVel &) |
| get the joint velocities and positoin of the chain as a kdl jnt array vel. Fills in the positions too.
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template<class Vec > |
void | getVelocities (Vec &v) |
| gets the joint velocities of the chain as any type with size() and []
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bool | init (RobotState *robot_state, const std::string &root, const std::string &tip) |
| initialize the chain object
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void | setEfforts (KDL::JntArray &) |
| set the commanded joint efforts of the chain as a std vector
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int | size () const |
| Returns the number of actuated joints in the chain.
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void | toKDL (KDL::Chain &chain) |
| get a kdl chain object that respresents the chain from root to tip
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| ~Chain () |
Private Attributes |
std::vector< JointState * > | joints_ |
KDL::Chain | kdl_chain_ |
pr2_mechanism_model::RobotState * | robot_state_ |
Definition at line 43 of file chain.h.