KinematicExtensionBase Class Reference

Base class for kinematic extensions. More...

#include <kinematic_extension_base.h>

Inheritance diagram for KinematicExtensionBase:

List of all members.

Public Member Functions
virtual KDL::Jacobian	adjustJacobian (const KDL::Jacobian &jac_chain)=0
virtual JointStates	adjustJointStates (const JointStates &joint_states)=0
virtual LimiterParams	adjustLimiterParams (const LimiterParams &limiter_params)=0
virtual bool	initExtension ()=0
	KinematicExtensionBase (const TwistControllerParams &params)
virtual void	processResultExtension (const KDL::JntArray &q_dot_ik)=0
virtual	~KinematicExtensionBase ()
Protected Attributes
ros::NodeHandle	nh_
const TwistControllerParams &	params_
tf::TransformListener	tf_listener_

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Detailed Description

Base class for kinematic extensions.

Definition at line 28 of file kinematic_extension_base.h.

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Constructor & Destructor Documentation

KinematicExtensionBase::KinematicExtensionBase

(

const TwistControllerParams &

params

)

[inline, explicit]

give tf_listener_ some time to fill buffer

Definition at line 31 of file kinematic_extension_base.h.

virtual KinematicExtensionBase::~KinematicExtensionBase

(

)

[inline, virtual]

Definition at line 38 of file kinematic_extension_base.h.

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Member Function Documentation

virtual KDL::Jacobian KinematicExtensionBase::adjustJacobian

(

const KDL::Jacobian &

jac_chain

)

[pure virtual]

Implemented in KinematicExtensionBaseActive, KinematicExtensionNone, KinematicExtensionLookat, KinematicExtensionURDF, and KinematicExtensionDOF.

virtual JointStates KinematicExtensionBase::adjustJointStates

(

const JointStates &

joint_states

)

[pure virtual]

Implemented in KinematicExtensionBaseActive, KinematicExtensionNone, KinematicExtensionLookat, KinematicExtensionURDF, and KinematicExtensionDOF.

virtual LimiterParams KinematicExtensionBase::adjustLimiterParams

(

const LimiterParams &

limiter_params

)

[pure virtual]

Implemented in KinematicExtensionBaseActive, KinematicExtensionNone, KinematicExtensionLookat, KinematicExtensionURDF, and KinematicExtensionDOF.

virtual bool KinematicExtensionBase::initExtension

(

)

[pure virtual]

Implemented in KinematicExtensionBaseActive, KinematicExtensionNone, KinematicExtensionLookat, KinematicExtensionURDF, and KinematicExtensionDOF.

virtual void KinematicExtensionBase::processResultExtension

(

const KDL::JntArray &

q_dot_ik

)

[pure virtual]

Implemented in KinematicExtensionBaseActive, KinematicExtensionNone, KinematicExtensionLookat, KinematicExtensionURDF, and KinematicExtensionDOF.

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Member Data Documentation

ros::NodeHandle KinematicExtensionBase::nh_ [protected]

Definition at line 47 of file kinematic_extension_base.h.

const TwistControllerParams& KinematicExtensionBase::params_ [protected]

Definition at line 49 of file kinematic_extension_base.h.

tf::TransformListener KinematicExtensionBase::tf_listener_ [protected]

Definition at line 48 of file kinematic_extension_base.h.

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

• kinematic_extension_base.h