KinematicExtensionDOF Class Reference

Abstract Helper Class to be used for Cartesian KinematicExtensions based on enabled DoFs. More...

#include <kinematic_extension_dof.h>

Inheritance diagram for KinematicExtensionDOF:

List of all members.

Public Member Functions
virtual KDL::Jacobian	adjustJacobian (const KDL::Jacobian &jac_chain)=0
KDL::Jacobian	adjustJacobianDof (const KDL::Jacobian &jac_chain, const KDL::Frame eb_frame_ct, const KDL::Frame cb_frame_eb, const ActiveCartesianDimension active_dim)
virtual JointStates	adjustJointStates (const JointStates &joint_states)=0
virtual LimiterParams	adjustLimiterParams (const LimiterParams &limiter_params)=0
virtual bool	initExtension ()=0
	KinematicExtensionDOF (const TwistControllerParams &params)
virtual void	processResultExtension (const KDL::JntArray &q_dot_ik)=0
	~KinematicExtensionDOF ()
Protected Attributes
unsigned int	ext_dof_
std::vector< std::string >	joint_names_
JointStates	joint_states_
std::vector< double >	limits_acc_
std::vector< double >	limits_max_
std::vector< double >	limits_min_
std::vector< double >	limits_vel_

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Detailed Description

Abstract Helper Class to be used for Cartesian KinematicExtensions based on enabled DoFs.

Definition at line 32 of file kinematic_extension_dof.h.

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Constructor & Destructor Documentation

KinematicExtensionDOF::KinematicExtensionDOF

(

const TwistControllerParams &

params

)

[inline, explicit]

Definition at line 35 of file kinematic_extension_dof.h.

KinematicExtensionDOF::~KinematicExtensionDOF

(

)

[inline]

Definition at line 39 of file kinematic_extension_dof.h.

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Member Function Documentation

virtual KDL::Jacobian KinematicExtensionDOF::adjustJacobian

(

const KDL::Jacobian &

jac_chain

)

[pure virtual]

Implements KinematicExtensionBase.

Implemented in KinematicExtensionBaseActive.

KDL::Jacobian KinematicExtensionDOF::adjustJacobianDof	(	const KDL::Jacobian &	jac_chain,
		const KDL::Frame	eb_frame_ct,
		const KDL::Frame	cb_frame_eb,
		const ActiveCartesianDimension	active_dim
	)

Helper function adjusting the Jacobian used in inverse differential computation based on the Cartesian DoFs enabled in 'adjustJacobian()'.

Parameters:

jac_chain	The jacobian of the primary kinematic chain.
eb_frame_ct	The transformation from base_frame of the extension (eb) to the tip_frame of the primary chain (ct).
cb_frame_eb	The transformation from base_frame of the primary chain (cb) to the base_frame of the extension (eb).
active_dim	The binary vector of active dimensions.

Returns:

The extended Jacobian

compose jac_full considering kinematical extension

angular velocities

linear velocities

Fill Jacobian column by column

Definition at line 31 of file kinematic_extension_dof.cpp.

virtual JointStates KinematicExtensionDOF::adjustJointStates

(

const JointStates &

joint_states

)

[pure virtual]

Implements KinematicExtensionBase.

Implemented in KinematicExtensionBaseActive.

virtual LimiterParams KinematicExtensionDOF::adjustLimiterParams

(

const LimiterParams &

limiter_params

)

[pure virtual]

Implements KinematicExtensionBase.

Implemented in KinematicExtensionBaseActive.

virtual bool KinematicExtensionDOF::initExtension

(

)

[pure virtual]

Implements KinematicExtensionBase.

Implemented in KinematicExtensionBaseActive.

virtual void KinematicExtensionDOF::processResultExtension

(

const KDL::JntArray &

q_dot_ik

)

[pure virtual]

Implements KinematicExtensionBase.

Implemented in KinematicExtensionBaseActive.

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Member Data Documentation

unsigned int KinematicExtensionDOF::ext_dof_ [protected]

Definition at line 50 of file kinematic_extension_dof.h.

std::vector<std::string> KinematicExtensionDOF::joint_names_ [protected]

Definition at line 51 of file kinematic_extension_dof.h.

JointStates KinematicExtensionDOF::joint_states_ [protected]

Definition at line 52 of file kinematic_extension_dof.h.

std::vector<double> KinematicExtensionDOF::limits_acc_ [protected]

Definition at line 56 of file kinematic_extension_dof.h.

std::vector<double> KinematicExtensionDOF::limits_max_ [protected]

Definition at line 53 of file kinematic_extension_dof.h.

std::vector<double> KinematicExtensionDOF::limits_min_ [protected]

Definition at line 54 of file kinematic_extension_dof.h.

std::vector<double> KinematicExtensionDOF::limits_vel_ [protected]

Definition at line 55 of file kinematic_extension_dof.h.

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

• kinematic_extension_dof.h
• kinematic_extension_dof.cpp