#include <treefksolverjointposaxis.hpp>
Public Member Functions | |
| const std::vector< std::string > | getSegmentNames () const |
| const std::map< std::string, int > | getSegmentNameToIndex () const |
| int | JntToCart (const JntArray &q_in, std::vector< Vector > &joint_pos, std::vector< Vector > &joint_axis, std::vector< Frame > &segment_frames) const |
| int | segmentNameToIndex (std::string name) const |
| TreeFkSolverJointPosAxis (const Tree &tree, const std::string &reference_frame) | |
| ~TreeFkSolverJointPosAxis () | |
Private Member Functions | |
| void | assignSegmentNumber (const SegmentMap::const_iterator this_segment) |
| int | treeRecursiveFK (const JntArray &q_in, std::vector< Vector > &joint_pos, std::vector< Vector > &joint_axis, std::vector< Frame > &segment_frames, const Frame &previous_frame, const SegmentMap::const_iterator this_segment, int segment_nr) const |
Private Attributes | |
| int | num_joints_ |
| int | num_segments_ |
| std::string | reference_frame_ |
| int | reference_frame_index_ |
| std::map< std::string, int > | segment_name_to_index_ |
| std::vector< std::string > | segment_names_ |
| Tree | tree_ |
Definition at line 46 of file treefksolverjointposaxis.hpp.
| KDL::TreeFkSolverJointPosAxis::TreeFkSolverJointPosAxis | ( | const Tree & | tree, | |
| const std::string & | reference_frame | |||
| ) |
Definition at line 44 of file treefksolverjointposaxis.cpp.
| KDL::TreeFkSolverJointPosAxis::~TreeFkSolverJointPosAxis | ( | ) |
Definition at line 63 of file treefksolverjointposaxis.cpp.
| void KDL::TreeFkSolverJointPosAxis::assignSegmentNumber | ( | const SegmentMap::const_iterator | this_segment | ) | [private] |
Definition at line 121 of file treefksolverjointposaxis.cpp.
| const std::vector< std::string > KDL::TreeFkSolverJointPosAxis::getSegmentNames | ( | ) | const |
Definition at line 134 of file treefksolverjointposaxis.cpp.
| const std::map< std::string, int > KDL::TreeFkSolverJointPosAxis::getSegmentNameToIndex | ( | ) | const |
Definition at line 139 of file treefksolverjointposaxis.cpp.
| int KDL::TreeFkSolverJointPosAxis::JntToCart | ( | const JntArray & | q_in, | |
| std::vector< Vector > & | joint_pos, | |||
| std::vector< Vector > & | joint_axis, | |||
| std::vector< Frame > & | segment_frames | |||
| ) | const |
Definition at line 67 of file treefksolverjointposaxis.cpp.
| int KDL::TreeFkSolverJointPosAxis::segmentNameToIndex | ( | std::string | name | ) | const |
Definition at line 144 of file treefksolverjointposaxis.cpp.
| int KDL::TreeFkSolverJointPosAxis::treeRecursiveFK | ( | const JntArray & | q_in, | |
| std::vector< Vector > & | joint_pos, | |||
| std::vector< Vector > & | joint_axis, | |||
| std::vector< Frame > & | segment_frames, | |||
| const Frame & | previous_frame, | |||
| const SegmentMap::const_iterator | this_segment, | |||
| int | segment_nr | |||
| ) | const [private] |
Definition at line 95 of file treefksolverjointposaxis.cpp.
int KDL::TreeFkSolverJointPosAxis::num_joints_ [private] |
Definition at line 69 of file treefksolverjointposaxis.hpp.
int KDL::TreeFkSolverJointPosAxis::num_segments_ [private] |
Definition at line 70 of file treefksolverjointposaxis.hpp.
std::string KDL::TreeFkSolverJointPosAxis::reference_frame_ [private] |
Definition at line 67 of file treefksolverjointposaxis.hpp.
int KDL::TreeFkSolverJointPosAxis::reference_frame_index_ [private] |
Definition at line 68 of file treefksolverjointposaxis.hpp.
std::map<std::string, int> KDL::TreeFkSolverJointPosAxis::segment_name_to_index_ [private] |
Definition at line 65 of file treefksolverjointposaxis.hpp.
std::vector<std::string> KDL::TreeFkSolverJointPosAxis::segment_names_ [private] |
Definition at line 64 of file treefksolverjointposaxis.hpp.
Tree KDL::TreeFkSolverJointPosAxis::tree_ [private] |
Definition at line 66 of file treefksolverjointposaxis.hpp.
