KinematicExtensionBase Class Reference

Base class for kinematic extensions. More...

#include <kinematic_extension_base.h>

Inheritance diagram for KinematicExtensionBase:

Public Member Functions
virtual KDL::Jacobian	adjustJacobian (const KDL::Jacobian &jac_chain)=0
virtual JointStates	adjustJointStates (const JointStates &joint_states)=0
virtual LimiterParams	adjustLimiterParams (const LimiterParams &limiter_params)=0
virtual bool	initExtension ()=0
	KinematicExtensionBase (const TwistControllerParams &params)
virtual void	processResultExtension (const KDL::JntArray &q_dot_ik)=0
virtual	~KinematicExtensionBase ()

Protected Attributes
ros::NodeHandle	nh_
const TwistControllerParams &	params_
tf::TransformListener	tf_listener_

Detailed Description

Base class for kinematic extensions.

Definition at line 28 of file kinematic_extension_base.h.

Constructor & Destructor Documentation

KinematicExtensionBase()

KinematicExtensionBase::KinematicExtensionBase ( const TwistControllerParams &  params )

inlineexplicit

give tf_listener_ some time to fill buffer

Definition at line 31 of file kinematic_extension_base.h.

~KinematicExtensionBase()

virtual KinematicExtensionBase::~KinematicExtensionBase ( )

inlinevirtual

Definition at line 38 of file kinematic_extension_base.h.

Member Function Documentation

adjustJacobian()

virtual KDL::Jacobian KinematicExtensionBase::adjustJacobian ( const KDL::Jacobian &  jac_chain )

pure virtual

Implemented in KinematicExtensionDOF, KinematicExtensionBaseActive, KinematicExtensionNone, KinematicExtensionLookat, and KinematicExtensionURDF.

adjustJointStates()

virtual JointStates KinematicExtensionBase::adjustJointStates ( const JointStates &  joint_states )

pure virtual

Implemented in KinematicExtensionDOF, KinematicExtensionBaseActive, KinematicExtensionNone, KinematicExtensionLookat, and KinematicExtensionURDF.

adjustLimiterParams()

virtual LimiterParams KinematicExtensionBase::adjustLimiterParams ( const LimiterParams &  limiter_params )

pure virtual

Implemented in KinematicExtensionDOF, KinematicExtensionBaseActive, KinematicExtensionNone, KinematicExtensionLookat, and KinematicExtensionURDF.

initExtension()

virtual bool KinematicExtensionBase::initExtension ( )

pure virtual

Implemented in KinematicExtensionDOF, KinematicExtensionTorso, KinematicExtensionBaseActive, KinematicExtensionNone, KinematicExtensionLookat, and KinematicExtensionURDF.

processResultExtension()

virtual void KinematicExtensionBase::processResultExtension ( const KDL::JntArray &  q_dot_ik )

pure virtual

Implemented in KinematicExtensionDOF, KinematicExtensionBaseActive, KinematicExtensionNone, KinematicExtensionLookat, and KinematicExtensionURDF.

Member Data Documentation

nh_

ros::NodeHandle KinematicExtensionBase::nh_

protected

Definition at line 47 of file kinematic_extension_base.h.

params_

const TwistControllerParams& KinematicExtensionBase::params_

protected

Definition at line 49 of file kinematic_extension_base.h.

tf_listener_

tf::TransformListener KinematicExtensionBase::tf_listener_

protected

Definition at line 48 of file kinematic_extension_base.h.

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

• kinematic_extension_base.h