#include <KdlTreeUtilities.h>

Inheritance diagram for KdlTreeUtilities:

Public Member Functions
virtual void	addSegment (const KDL::Segment &segment, const std::string &hookName)
	adds a segment to the tree
virtual std::string	getBaseName () const
	get base of tree. Virtual so derived classes can publish a different base if desired.
virtual bool	getChain (const std::string &baseFrame, const std::string &toolFrame, KDL::Chain &chain) const
	get chain from baseFrame to toolFrame. Virtual so derived classes can manipulate the chain if desired.
void	getChainJointNames (const KDL::Chain &chain, std::vector< std::string > &jointNames) const
	get joint names in chain.
virtual void	getChainJointNames (const std::string &toolFrame, std::vector< std::string > &jointNames) const
	get joint names in chain from base to toolFrame. Virtual so derived classes can manipulate the published names if desired.
virtual void	getChainJointNames (const std::string &baseFrame, const std::string &toolFrame, std::vector< std::string > &jointNames) const
	get joint names in chain from baseFrame to toolFrame. Virtual so derived classes can manipulate the published names if desired.
virtual unsigned int	getJointCount () const
	get joint count of tree. Virtual so derived classes can publish a different number if desired.
virtual void	getJointNames (std::vector< std::string > &jointNames) const
	get joint names in tree. Virtual so derived classes can manipulate the published names if desired.
bool	hasSegment (const std::string &segName) const
	KdlTreeUtilities ()
virtual bool	removeSegment (const std::string &segName)
	removes a segment and all its children from the tree
bool	removeSegRecursive (KDL::Tree &tree, KDL::SegmentMap::const_iterator root, const std::string &hook_name, const std::string &seg_remove_name)
	~KdlTreeUtilities ()

Detailed Description

Definition at line 8 of file KdlTreeUtilities.h.

Constructor & Destructor Documentation

KdlTreeUtilities::KdlTreeUtilities ( )

Definition at line 3 of file KdlTreeUtilities.cpp.

KdlTreeUtilities::~KdlTreeUtilities ( )

Definition at line 7 of file KdlTreeUtilities.cpp.

Member Function Documentation

void KdlTreeUtilities::addSegment	(	const KDL::Segment &	segment,
		const std::string &	hookName
	)		`[virtual]`

adds a segment to the tree

Parameters:

segment	The segment to add
hookName	The reference (parent) frame to add the segment to

Exceptions:

std::runtime_error	if a segment with the same name has already been added
std::runtime_error	if hookName does not exist in the current tree

Definition at line 86 of file KdlTreeUtilities.cpp.

virtual std::string KdlTreeUtilities::getBaseName ( ) const [inline, virtual]

get base of tree. Virtual so derived classes can publish a different base if desired.

Reimplemented in MobileTreeIk.

Definition at line 17 of file KdlTreeUtilities.h.

bool KdlTreeUtilities::getChain	(	const std::string &	baseFrame,
		const std::string &	toolFrame,
		KDL::Chain &	chain
	)		const `[virtual]`

get chain from baseFrame to toolFrame. Virtual so derived classes can manipulate the chain if desired.

Definition at line 70 of file KdlTreeUtilities.cpp.

void KdlTreeUtilities::getChainJointNames	(	const KDL::Chain &	chain,
		std::vector< std::string > &	jointNames
	)		const

get joint names in chain.

Definition at line 11 of file KdlTreeUtilities.cpp.

void KdlTreeUtilities::getChainJointNames	(	const std::string &	toolFrame,
		std::vector< std::string > &	jointNames
	)		const `[virtual]`

get joint names in chain from base to toolFrame. Virtual so derived classes can manipulate the published names if desired.

Definition at line 31 of file KdlTreeUtilities.cpp.

void KdlTreeUtilities::getChainJointNames	(	const std::string &	baseFrame,
		const std::string &	toolFrame,
		std::vector< std::string > &	jointNames
	)		const `[virtual]`

get joint names in chain from baseFrame to toolFrame. Virtual so derived classes can manipulate the published names if desired.

Definition at line 37 of file KdlTreeUtilities.cpp.

virtual unsigned int KdlTreeUtilities::getJointCount ( ) const [inline, virtual]

get joint count of tree. Virtual so derived classes can publish a different number if desired.

Reimplemented in MobileTreeIk.

Definition at line 29 of file KdlTreeUtilities.h.

void KdlTreeUtilities::getJointNames ( std::vector< std::string > & jointNames ) const [virtual]

get joint names in tree. Virtual so derived classes can manipulate the published names if desired.

Reimplemented in MobileTreeIk.

Definition at line 51 of file KdlTreeUtilities.cpp.

bool KdlTreeUtilities::hasSegment ( const std::string & segName ) const [inline]

Definition at line 53 of file KdlTreeUtilities.h.

bool KdlTreeUtilities::removeSegment ( const std::string & segName ) [virtual]

removes a segment and all its children from the tree

Parameters:

segName The name of the segment to remove

Returns:: false If segName is not in the current tree

Definition at line 111 of file KdlTreeUtilities.cpp.

bool KdlTreeUtilities::removeSegRecursive	(	KDL::Tree &	tree,
		KDL::SegmentMap::const_iterator	root,
		const std::string &	hook_name,
		const std::string &	seg_remove_name
	)

Definition at line 119 of file KdlTreeUtilities.cpp.

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation