KinematicExtensionDOF Class Reference

Abstract Helper Class to be used for Cartesian KinematicExtensions based on enabled DoFs. More...

#include <kinematic_extension_dof.h>

Inheritance diagram for KinematicExtensionDOF:

Public Member Functions
virtual KDL::Jacobian	adjustJacobian (const KDL::Jacobian &jac_chain)=0
KDL::Jacobian	adjustJacobianDof (const KDL::Jacobian &jac_chain, const KDL::Frame eb_frame_ct, const KDL::Frame cb_frame_eb, const ActiveCartesianDimension active_dim)
virtual JointStates	adjustJointStates (const JointStates &joint_states)=0
virtual LimiterParams	adjustLimiterParams (const LimiterParams &limiter_params)=0
virtual bool	initExtension ()=0
	KinematicExtensionDOF (const TwistControllerParams &params)
virtual void	processResultExtension (const KDL::JntArray &q_dot_ik)=0
	~KinematicExtensionDOF ()
Public Member Functions inherited from KinematicExtensionBase
	KinematicExtensionBase (const TwistControllerParams &params)
virtual	~KinematicExtensionBase ()

Protected Attributes
unsigned int	ext_dof_
std::vector< std::string >	joint_names_
JointStates	joint_states_
std::vector< double >	limits_acc_
std::vector< double >	limits_max_
std::vector< double >	limits_min_
std::vector< double >	limits_vel_
Protected Attributes inherited from KinematicExtensionBase
ros::NodeHandle	nh_
const TwistControllerParams &	params_
tf::TransformListener	tf_listener_

Detailed Description

Abstract Helper Class to be used for Cartesian KinematicExtensions based on enabled DoFs.

Definition at line 32 of file kinematic_extension_dof.h.

Constructor & Destructor Documentation

KinematicExtensionDOF()

KinematicExtensionDOF::KinematicExtensionDOF ( const TwistControllerParams &  params )

inlineexplicit

Definition at line 35 of file kinematic_extension_dof.h.

~KinematicExtensionDOF()

KinematicExtensionDOF::~KinematicExtensionDOF ( )

inline

Definition at line 39 of file kinematic_extension_dof.h.

Member Function Documentation

adjustJacobian()

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

pure virtual

Implements KinematicExtensionBase.

Implemented in KinematicExtensionBaseActive.

adjustJacobianDof()

KDL::Jacobian KinematicExtensionDOF::adjustJacobianDof	(	const KDL::Jacobian &	jac_chain,
		const KDL::Frame	eb_frame_ct,
		const KDL::Frame	cb_frame_eb,
		const ActiveCartesianDimension	active_dim
	)

Helper function adjusting the Jacobian used in inverse differential computation based on the Cartesian DoFs enabled in 'adjustJacobian()'.

Parameters

jac_chain	The jacobian of the primary kinematic chain.
eb_frame_ct	The transformation from base_frame of the extension (eb) to the tip_frame of the primary chain (ct).
cb_frame_eb	The transformation from base_frame of the primary chain (cb) to the base_frame of the extension (eb).
active_dim	The binary vector of active dimensions.

Returns

The extended Jacobian

compose jac_full considering kinematical extension

angular velocities

linear velocities

Fill Jacobian column by column

Definition at line 31 of file kinematic_extension_dof.cpp.

adjustJointStates()

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

pure virtual

Implements KinematicExtensionBase.

Implemented in KinematicExtensionBaseActive.

adjustLimiterParams()

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

pure virtual

Implements KinematicExtensionBase.

Implemented in KinematicExtensionBaseActive.

initExtension()

virtual bool KinematicExtensionDOF::initExtension ( )

pure virtual

Implements KinematicExtensionBase.

Implemented in KinematicExtensionBaseActive.

processResultExtension()

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

pure virtual

Implements KinematicExtensionBase.

Implemented in KinematicExtensionBaseActive.

Member Data Documentation

ext_dof_

unsigned int KinematicExtensionDOF::ext_dof_

protected

Definition at line 50 of file kinematic_extension_dof.h.

joint_names_

std::vector<std::string> KinematicExtensionDOF::joint_names_

protected

Definition at line 51 of file kinematic_extension_dof.h.

joint_states_

JointStates KinematicExtensionDOF::joint_states_

protected

Definition at line 52 of file kinematic_extension_dof.h.

limits_acc_

std::vector<double> KinematicExtensionDOF::limits_acc_

protected

Definition at line 56 of file kinematic_extension_dof.h.

limits_max_

std::vector<double> KinematicExtensionDOF::limits_max_

protected

Definition at line 53 of file kinematic_extension_dof.h.

limits_min_

std::vector<double> KinematicExtensionDOF::limits_min_

protected

Definition at line 54 of file kinematic_extension_dof.h.

limits_vel_

std::vector<double> KinematicExtensionDOF::limits_vel_

protected

Definition at line 55 of file kinematic_extension_dof.h.

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

• kinematic_extension_dof.h
• kinematic_extension_dof.cpp