chain.h
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29 
30 // Author: Stuart Glaser
31 
32 #ifndef MECHANISM_MODEL_CHAIN_H
33 #define MECHANISM_MODEL_CHAIN_H
34 
36 #include <kdl/chain.hpp>
37 #include <kdl/jntarray.hpp>
38 #include <kdl/jntarrayvel.hpp>
39 #include <kdl/jntarrayacc.hpp>
40 
42 
43 class Chain
44 {
45 public:
46  Chain() {}
47  ~Chain() {}
48 
56  bool init(RobotState *robot_state, const std::string &root, const std::string &tip);
57 
59  void getPositions(std::vector<double>&);
61  void getPositions(KDL::JntArray&);
63  template <class Vec>
64  void getPositions(Vec &v)
65  {
66  assert((int)v.size() == (int)joints_.size());
67  for (size_t i = 0; i < joints_.size(); ++i)
68  v[i] = joints_[i]->position_;
69  }
70 
72  void getVelocities(std::vector<double>&);
74  void getVelocities(KDL::JntArrayVel&);
76  template <class Vec>
77  void getVelocities(Vec &v)
78  {
79  assert((int)v.size() == (int)joints_.size());
80  for (size_t i = 0; i < joints_.size(); ++i)
81  v[i] = joints_[i]->velocity_;
82  }
83 
84 
86  void getEfforts(std::vector<double>&);
88  void getEfforts(KDL::JntArray&);
89 
91  void setEfforts(KDL::JntArray&);
93  void addEfforts(KDL::JntArray&);
94 
98  template <class Vec>
99  void addEfforts(const Vec& v)
100  {
101  assert((int)v.size() == (int)joints_.size());
102  for (size_t i = 0; i < joints_.size(); ++i)
103  joints_[i]->commanded_effort_ += v[i];
104  }
105 
107  bool allCalibrated();
108 
110  void toKDL(KDL::Chain &chain);
111 
117  JointState* getJoint(unsigned int actuated_joint_i);
118 
120  int size() const { return joints_.size(); }
121 
122 private:
124  KDL::Chain kdl_chain_;
125 
126  std::vector< JointState* > joints_; // ONLY joints that can be actuated (not fixed joints)
127 };
128 
129 }
130 
131 #endif
pr2_mechanism_model::Chain::joints_
std::vector< JointState * > joints_
Definition: chain.h:126
pr2_mechanism_model::Chain::addEfforts
void addEfforts(const Vec &v)
Adds efforts from any type that implements size() and [] lookup.
Definition: chain.h:99
pr2_mechanism_model::JointState
Definition: joint.h:103
robot.h
pr2_mechanism_model::Chain::kdl_chain_
KDL::Chain kdl_chain_
Definition: chain.h:124
pr2_mechanism_model
Definition: chain.h:41
pr2_mechanism_model::Chain
Definition: chain.h:43
pr2_mechanism_model::Chain::getVelocities
void getVelocities(Vec &v)
gets the joint velocities of the chain as any type with size() and []
Definition: chain.h:77
pr2_mechanism_model::Chain::getPositions
void getPositions(Vec &v)
gets the joint positions of the chain as any type with size() and []
Definition: chain.h:64
pr2_mechanism_model::Chain::setEfforts
void setEfforts(KDL::JntArray &)
set the commanded joint efforts of the chain as a std vector
Definition: chain.cpp:150
pr2_mechanism_model::Chain::robot_state_
pr2_mechanism_model::RobotState * robot_state_
Definition: chain.h:123
pr2_mechanism_model::Chain::getJoint
JointState * getJoint(unsigned int actuated_joint_i)
get a joint state of an actuated joint of the chain.
Definition: chain.cpp:165
pr2_mechanism_model::RobotState
This class provides the controllers with an interface to the robot state.
Definition: robot.h:126
pr2_mechanism_model::Chain::getEfforts
void getEfforts(std::vector< double > &)
get the measured joint efforts of the chain as a std vector
Definition: chain.cpp:101
pr2_mechanism_model::Chain::getPositions
void getPositions(std::vector< double > &)
get the joint positions of the chain as a std vector
Definition: chain.cpp:83
pr2_mechanism_model::Chain::allCalibrated
bool allCalibrated()
returns true if all the joints in the chain are calibrated
Definition: chain.cpp:110
pr2_mechanism_model::Chain::getVelocities
void getVelocities(std::vector< double > &)
get the joint velocities of the chain as a std vector
Definition: chain.cpp:92
pr2_mechanism_model::Chain::toKDL
void toKDL(KDL::Chain &chain)
get a kdl chain object that respresents the chain from root to tip
Definition: chain.cpp:120
pr2_mechanism_model::Chain::~Chain
~Chain()
Definition: chain.h:47
pr2_mechanism_model::Chain::addEfforts
void addEfforts(KDL::JntArray &)
set the commanded joint efforts of the chain as a kdl jnt array
Definition: chain.cpp:157
pr2_mechanism_model::Chain::size
int size() const
Returns the number of actuated joints in the chain.
Definition: chain.h:120
pr2_mechanism_model::Chain::Chain
Chain()
Definition: chain.h:46
pr2_mechanism_model::Chain::init
bool init(RobotState *robot_state, const std::string &root, const std::string &tip)
initialize the chain object
Definition: chain.cpp:40


pr2_mechanism_model
Author(s): Eric Berger berger@willowgarage.com, Stuart Glaser, Wim Meeussen
autogenerated on Sat Nov 12 2022 03:49:03