kinematics_interface.cpp File Reference

#include <geometry_msgs/PointStamped.h>
#include <ros/ros.h>
#include "rdl_dynamics/Dynamics.h"
#include "rdl_dynamics/FrameOrientation.hpp"
#include "rdl_dynamics/Kinematics.h"
#include "rdl_dynamics/Model.h"
#include "rdl_dynamics/rdl_eigenmath.h"
#include "rdl_dynamics/rdl_utils.h"
#include "rdl_msgs/ChangeOrientationFrame.h"
#include "rdl_msgs/ChangePointFrame.h"
#include "rdl_msgs/ChangePointArrayFrame.h"
#include "rdl_msgs/ChangePoseFrame.h"
#include "rdl_msgs/Change3DVectorFrame.h"
#include "rdl_msgs/Change3DVectorArrayFrame.h"
#include "rdl_msgs/ChangeTwistFrame.h"
#include "rdl_msgs/ChangeTwistArrayFrame.h"
#include "rdl_msgs/ChangeWrenchArrayFrame.h"
#include "rdl_msgs/ChangeWrenchFrame.h"
#include "rdl_msgs/GetTransform.h"
#include "rdl_msgs/GetTwist.h"
#include "rdl_msgs/GetBodyGravityWrench.h"
#include "rdl_msgs/GetRobotCenterOfMass.h"
#include "rdl_msgs/RobotState.h"
#include "rdl_urdfreader/urdfreader.h"

Include dependency graph for kinematics_interface.cpp:

Go to the source code of this file.

Functions
bool	change3DVectorArrayFrame (rdl_msgs::Change3DVectorArrayFrameRequest &req, rdl_msgs::Change3DVectorArrayFrameResponse &resp)
bool	change3DVectorFrame (rdl_msgs::Change3DVectorFrameRequest &req, rdl_msgs::Change3DVectorFrameResponse &resp)
bool	changeOrientationFrame (rdl_msgs::ChangeOrientationFrameRequest &req, rdl_msgs::ChangeOrientationFrameResponse &resp)
bool	changePointArrayFrame (rdl_msgs::ChangePointArrayFrameRequest &req, rdl_msgs::ChangePointArrayFrameResponse &resp)
bool	changePointFrame (rdl_msgs::ChangePointFrameRequest &req, rdl_msgs::ChangePointFrameResponse &resp)
bool	changePoseFrame (rdl_msgs::ChangePoseFrameRequest &req, rdl_msgs::ChangePoseFrameResponse &resp)
bool	changeTwistArrayFrame (rdl_msgs::ChangeTwistArrayFrameRequest &req, rdl_msgs::ChangeTwistArrayFrameResponse &resp)
bool	changeTwistFrame (rdl_msgs::ChangeTwistFrameRequest &req, rdl_msgs::ChangeTwistFrameResponse &resp)
bool	changeWrenchArrayFrame (rdl_msgs::ChangeWrenchArrayFrameRequest &req, rdl_msgs::ChangeWrenchArrayFrameResponse &resp)
bool	changeWrenchFrame (rdl_msgs::ChangeWrenchFrameRequest &req, rdl_msgs::ChangeWrenchFrameResponse &resp)
bool	getBodyGravityWrench (rdl_msgs::GetBodyGravityWrenchRequest &req, rdl_msgs::GetBodyGravityWrenchResponse &resp)
RobotDynamics::ReferenceFramePtr	getFrame (const std::string &name)
bool	getRobotCenterOfMass (rdl_msgs::GetRobotCenterOfMassRequest &req, rdl_msgs::GetRobotCenterOfMassResponse &resp)
bool	getTransform (rdl_msgs::GetTransformRequest &req, rdl_msgs::GetTransformResponse &resp)
bool	getTwist (rdl_msgs::GetTwistRequest &req, rdl_msgs::GetTwistResponse &resp)
bool	hasEnding (std::string const &fullString, std::string const &ending)
int	main (int argc, char *argv[])
void	robotStateCallback (const rdl_msgs::RobotState &msg)
void	updateKinematics ()

Variables
std::map< std::string, unsigned int >	joint_name_q_index
std::map< std::string, std::string >	joint_to_body_name_map
RobotDynamics::ModelPtr	model
RobotDynamics::Math::VectorNd	q
RobotDynamics::Math::VectorNd	qdot

Function Documentation

bool change3DVectorArrayFrame	(	rdl_msgs::Change3DVectorArrayFrameRequest &	req,
		rdl_msgs::Change3DVectorArrayFrameResponse &	resp
	)

Definition at line 306 of file kinematics_interface.cpp.

bool change3DVectorFrame	(	rdl_msgs::Change3DVectorFrameRequest &	req,
		rdl_msgs::Change3DVectorFrameResponse &	resp
	)

Definition at line 275 of file kinematics_interface.cpp.

bool changeOrientationFrame	(	rdl_msgs::ChangeOrientationFrameRequest &	req,
		rdl_msgs::ChangeOrientationFrameResponse &	resp
	)

Definition at line 166 of file kinematics_interface.cpp.

bool changePointArrayFrame	(	rdl_msgs::ChangePointArrayFrameRequest &	req,
		rdl_msgs::ChangePointArrayFrameResponse &	resp
	)

Definition at line 230 of file kinematics_interface.cpp.

bool changePointFrame	(	rdl_msgs::ChangePointFrameRequest &	req,
		rdl_msgs::ChangePointFrameResponse &	resp
	)

Definition at line 199 of file kinematics_interface.cpp.

bool changePoseFrame	(	rdl_msgs::ChangePoseFrameRequest &	req,
		rdl_msgs::ChangePoseFrameResponse &	resp
	)

Definition at line 127 of file kinematics_interface.cpp.

bool changeTwistArrayFrame	(	rdl_msgs::ChangeTwistArrayFrameRequest &	req,
		rdl_msgs::ChangeTwistArrayFrameResponse &	resp
	)

Definition at line 465 of file kinematics_interface.cpp.

bool changeTwistFrame	(	rdl_msgs::ChangeTwistFrameRequest &	req,
		rdl_msgs::ChangeTwistFrameResponse &	resp
	)

Definition at line 429 of file kinematics_interface.cpp.

bool changeWrenchArrayFrame	(	rdl_msgs::ChangeWrenchArrayFrameRequest &	req,
		rdl_msgs::ChangeWrenchArrayFrameResponse &	resp
	)

Definition at line 380 of file kinematics_interface.cpp.

bool changeWrenchFrame	(	rdl_msgs::ChangeWrenchFrameRequest &	req,
		rdl_msgs::ChangeWrenchFrameResponse &	resp
	)

Definition at line 344 of file kinematics_interface.cpp.

bool getBodyGravityWrench	(	rdl_msgs::GetBodyGravityWrenchRequest &	req,
		rdl_msgs::GetBodyGravityWrenchResponse &	resp
	)

Definition at line 610 of file kinematics_interface.cpp.

RobotDynamics::ReferenceFramePtr getFrame

(

const std::string &

name

)

Definition at line 89 of file kinematics_interface.cpp.

bool getRobotCenterOfMass	(	rdl_msgs::GetRobotCenterOfMassRequest &	req,
		rdl_msgs::GetRobotCenterOfMassResponse &	resp
	)

Definition at line 590 of file kinematics_interface.cpp.

bool getTransform	(	rdl_msgs::GetTransformRequest &	req,
		rdl_msgs::GetTransformResponse &	resp
	)

Definition at line 553 of file kinematics_interface.cpp.

bool getTwist	(	rdl_msgs::GetTwistRequest &	req,
		rdl_msgs::GetTwistResponse &	resp
	)

Definition at line 514 of file kinematics_interface.cpp.

bool hasEnding	(	std::string const &	fullString,
		std::string const &	ending
	)

Definition at line 77 of file kinematics_interface.cpp.

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 637 of file kinematics_interface.cpp.

void robotStateCallback

(

const rdl_msgs::RobotState &

msg

)

Definition at line 49 of file kinematics_interface.cpp.

void updateKinematics

(

)

Definition at line 44 of file kinematics_interface.cpp.

Variable Documentation

std::map<std::string, unsigned int> joint_name_q_index

Definition at line 41 of file kinematics_interface.cpp.

std::map<std::string, std::string> joint_to_body_name_map

Definition at line 40 of file kinematics_interface.cpp.

RobotDynamics::ModelPtr model

Definition at line 42 of file kinematics_interface.cpp.

RobotDynamics::Math::VectorNd q

Definition at line 39 of file kinematics_interface.cpp.

RobotDynamics::Math::VectorNd qdot

Definition at line 39 of file kinematics_interface.cpp.