#include <KdlTreeId.h>
Public Member Functions | |
int | findBranchNodes (const std::string &baseFrame, const std::string &ignoreFrame, std::vector< std::string > &nodeList, std::vector< std::string > &direction) |
void | findChainFromNode (const std::string &baseFrame, const std::string &direction, std::string &toolFrame) |
void | getAccelInBaseFrame (KDL::Vector gravity, const std::string &gravityFrame, JointDynamicsData &jd, const std::string &base, KDL::Twist &a_in) |
bool | isBaseFrameInTree (const std::string &baseFrame) |
KdlTreeId () | |
KDL::Wrench | sumForces (const KDL::Wrenches &f_in) |
bool | treeRecursiveNewtonEuler (JointDynamicsData &jd, const std::string &baseFrame, const std::string &ignoreFrame, const KDL::Twist &v_in, const KDL::Twist &a_in, KDL::Wrench &f_out, KDL::RigidBodyInertia &I_out) |
~KdlTreeId () | |
Protected Member Functions | |
virtual void | initialize () |
initialize called by both of the load functions, allowing derived classes to perform additional initialization after the tree is loaded | |
void | setFrames (const std::string &gravityFrame_in, const std::string &baseFrame_in) |
Protected Attributes | |
std::string | baseFrame |
std::auto_ptr < KDL::ChainFkSolverPos_recursive > | chainFkSolver |
KDL::Chain | gravBaseChain |
std::string | gravityFrame |
std::vector< std::string > | jointNames |
KDL::JntArrayAcc | joints |
Definition at line 11 of file KdlTreeId.h.
Definition at line 4 of file KdlTreeId.cpp.
Definition at line 9 of file KdlTreeId.cpp.
int KdlTreeId::findBranchNodes | ( | const std::string & | baseFrame, |
const std::string & | ignoreFrame, | ||
std::vector< std::string > & | nodeList, | ||
std::vector< std::string > & | direction | ||
) |
Definition at line 205 of file KdlTreeId.cpp.
void KdlTreeId::findChainFromNode | ( | const std::string & | baseFrame, |
const std::string & | direction, | ||
std::string & | toolFrame | ||
) |
Definition at line 179 of file KdlTreeId.cpp.
void KdlTreeId::getAccelInBaseFrame | ( | KDL::Vector | gravity, |
const std::string & | gravityFrame, | ||
JointDynamicsData & | jd, | ||
const std::string & | base, | ||
KDL::Twist & | a_in | ||
) |
Definition at line 32 of file KdlTreeId.cpp.
void KdlTreeId::initialize | ( | ) | [protected, virtual] |
initialize called by both of the load functions, allowing derived classes to perform additional initialization after the tree is loaded
Reimplemented from KdlTreeParser.
Definition at line 243 of file KdlTreeId.cpp.
bool KdlTreeId::isBaseFrameInTree | ( | const std::string & | baseFrame | ) |
Definition at line 13 of file KdlTreeId.cpp.
void KdlTreeId::setFrames | ( | const std::string & | gravityFrame_in, |
const std::string & | baseFrame_in | ||
) | [protected] |
Definition at line 18 of file KdlTreeId.cpp.
KDL::Wrench KdlTreeId::sumForces | ( | const KDL::Wrenches & | f_in | ) |
Definition at line 231 of file KdlTreeId.cpp.
bool KdlTreeId::treeRecursiveNewtonEuler | ( | JointDynamicsData & | jd, |
const std::string & | baseFrame, | ||
const std::string & | ignoreFrame, | ||
const KDL::Twist & | v_in, | ||
const KDL::Twist & | a_in, | ||
KDL::Wrench & | f_out, | ||
KDL::RigidBodyInertia & | I_out | ||
) |
Definition at line 44 of file KdlTreeId.cpp.
std::string KdlTreeId::baseFrame [protected] |
Definition at line 36 of file KdlTreeId.h.
std::auto_ptr<KDL::ChainFkSolverPos_recursive> KdlTreeId::chainFkSolver [protected] |
Definition at line 38 of file KdlTreeId.h.
KDL::Chain KdlTreeId::gravBaseChain [protected] |
Definition at line 37 of file KdlTreeId.h.
std::string KdlTreeId::gravityFrame [protected] |
Definition at line 35 of file KdlTreeId.h.
std::vector<std::string> KdlTreeId::jointNames [protected] |
Definition at line 31 of file KdlTreeId.h.
KDL::JntArrayAcc KdlTreeId::joints [protected] |
Definition at line 39 of file KdlTreeId.h.