Public Member Functions
bool	getDistanceBetweenJoints (const std::string &first_joint_name, const std::string &second_joint_name, double &distance)
	Get distance between two joints from the URDF.
bool	getJointRadius (const std::string &joint_name, double &radius)
	Get joint radius from the URDF.
bool	getJointSteeringLimits (const std::string &joint_name, double &steering_limit)
	Get joint steering limit from the URDF considering the upper and lower limit is the same.
bool	getTransformVector (const std::string &joint_name, const std::string &parent_link_name, urdf::Vector3 &transform_vector)
	Get transform vector between the joint and parent_link.
	UrdfVehicleKinematic (ros::NodeHandle &root_nh, const std::string &base_link)
Private Attributes
std::string	base_link_
boost::shared_ptr < urdf::ModelInterface >	model_

Detailed Description

Definition at line 10 of file urdf_vehicle_kinematic.h.

Constructor & Destructor Documentation

urdf_vehicle_kinematic::UrdfVehicleKinematic::UrdfVehicleKinematic	(	ros::NodeHandle &	root_nh,
		const std::string &	base_link
	)

Definition at line 64 of file urdf_vehicle_kinematic.cpp.

bool urdf_vehicle_kinematic::UrdfVehicleKinematic::getDistanceBetweenJoints	(	const std::string &	first_joint_name,
		const std::string &	second_joint_name,
		double &	distance
	)

Get distance between two joints from the URDF.

Parameters:

first_joint_name	Name of the first joint
second_joint_name	Name of the second joint
distance	Distance in meter between first and second joint

bool urdf_vehicle_kinematic::UrdfVehicleKinematic::getJointRadius	(	const std::string &	joint_name,
		double &	radius
	)

Get joint radius from the URDF.

Parameters:

joint_name	Name of the joint
distance	Distance in meter between first and second joint

bool urdf_vehicle_kinematic::UrdfVehicleKinematic::getJointSteeringLimits	(	const std::string &	joint_name,
		double &	steering_limit
	)

Get joint steering limit from the URDF considering the upper and lower limit is the same.

Parameters:

joint_name	Name of the joint
steering_limit	[rad]

bool urdf_vehicle_kinematic::UrdfVehicleKinematic::getTransformVector	(	const std::string &	joint_name,
		const std::string &	parent_link_name,
		urdf::Vector3 &	transform_vector
	)

Get transform vector between the joint and parent_link.

Parameters:

[in]	joint_name	Child joint_name from where to begin
[in]	parent_link_name	Name of link to find as parent of the joint
[out]	transform_vector	Distance vector between joint and parent_link [m]

Definition at line 83 of file urdf_vehicle_kinematic.cpp.

Definition at line 53 of file urdf_vehicle_kinematic.h.

Definition at line 55 of file urdf_vehicle_kinematic.h.

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