RosMsgTreeUtilities Class Reference

#include <RosMsgTreeUtilities.h>

Inheritance diagram for RosMsgTreeUtilities:

List of all members.

Public Member Functions
void	getFrameAccs (const r2_msgs::PoseState &poseState, const std::string &base, std::map< std::string, KDL::FrameAcc > &frameaccs)
void	getFrames (const r2_msgs::PoseState &poseState, const std::string &base, std::map< std::string, KDL::Frame > &frames)
	updates a map of all the frames in poseState with their new location and orientations
void	getFrameVels (const r2_msgs::PoseState &poseState, const std::string &base, std::map< std::string, KDL::FrameVel > &framevels)
void	loadFromFile (const std::string &fileName)
	loads a file which describes the kinematic tree and resets bases
	RosMsgTreeUtilities ()
bool	setBaseFrame (const r2_msgs::StringArray &baseMsg)
	sets the base frame vector to valid base frames
bool	setBaseFrame (std::string &baseMsg)
	sets the base frame vector to valid base frames
Public Attributes
std::vector< std::string >	bases
std::vector< std::string >	jointNames

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Detailed Description

Definition at line 13 of file RosMsgTreeUtilities.h.

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Constructor & Destructor Documentation

RosMsgTreeUtilities::RosMsgTreeUtilities

(

)

Definition at line 3 of file RosMsgTreeUtilities.cpp.

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Member Function Documentation

void RosMsgTreeUtilities::getFrameAccs	(	const r2_msgs::PoseState &	poseState,
		const std::string &	base,
		std::map< std::string, KDL::FrameAcc > &	frameaccs
	)

Definition at line 140 of file RosMsgTreeUtilities.cpp.

void RosMsgTreeUtilities::getFrames	(	const r2_msgs::PoseState &	poseState,
		const std::string &	base,
		std::map< std::string, KDL::Frame > &	frames
	)

updates a map of all the frames in poseState with their new location and orientations

Parameters:

poseState	the poseState calculated from forward kinematics
base	the base frame from which to calculate all the poses
frames	the output frame map

Definition at line 85 of file RosMsgTreeUtilities.cpp.

void RosMsgTreeUtilities::getFrameVels	(	const r2_msgs::PoseState &	poseState,
		const std::string &	base,
		std::map< std::string, KDL::FrameVel > &	framevels
	)

Definition at line 106 of file RosMsgTreeUtilities.cpp.

void RosMsgTreeUtilities::loadFromFile

(

const std::string &

fileName

)

loads a file which describes the kinematic tree and resets bases

Parameters:

fileName

the file that contains the description of the kinematic tree

Reimplemented from KdlTreeParser.

Definition at line 16 of file RosMsgTreeUtilities.cpp.

bool RosMsgTreeUtilities::setBaseFrame

(

const r2_msgs::StringArray &

baseMsg

)

sets the base frame vector to valid base frames

Parameters:

baseMsg

the base message received from the system

Returns:

false if unable to find base frame in current tree

check if bases have changed

clear bases

check to see if bases are valid

Definition at line 29 of file RosMsgTreeUtilities.cpp.

bool RosMsgTreeUtilities::setBaseFrame

(

std::string &

baseMsg

)

sets the base frame vector to valid base frames

Parameters:

baseMsg

the base message received from the system

Returns:

false if unable to find base frame in current tree

Definition at line 65 of file RosMsgTreeUtilities.cpp.

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Member Data Documentation

std::vector<std::string> RosMsgTreeUtilities::bases

Definition at line 27 of file RosMsgTreeUtilities.h.

std::vector<std::string> RosMsgTreeUtilities::jointNames

Definition at line 28 of file RosMsgTreeUtilities.h.

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

• RosMsgTreeUtilities.h
• RosMsgTreeUtilities.cpp