A link from the robot. Contains the constant transform applied to the link and its geometry. More...

#include <kinematic_model.h>

Public Member Functions
const std::vector < AttachedBodyModel * > &	getAttachedBodyModels () const
const std::vector< JointModel * > &	getChildJointModels () const
const tf::Transform &	getCollisionOriginTransform () const
const tf::Transform &	getJointOriginTransform () const
const shapes::Shape *	getLinkShape () const
const std::string &	getName () const
const JointModel *	getParentJointModel () const
	LinkModel (const KinematicModel *kinematic_model)
	LinkModel (const LinkModel *link_model)
	~LinkModel (void)
Private Member Functions
void	addAttachedBodyModel (AttachedBodyModel *attached_body_model)
void	clearAttachedBodyModels ()
	Removes all attached body models from this link, requiring an exclusive lock.
void	clearLinkAttachedBodyModel (const std::string &att_name)
void	replaceAttachedBodyModels (std::vector< AttachedBodyModel * > &attached_body_vector)
	Removes all attached body models from this link, and replaces them with the supplied vector, requiring an exclusive lock.
Private Attributes
std::vector< AttachedBodyModel * >	attached_body_models_
	Attached bodies.
std::vector< JointModel * >	child_joint_models_
	List of descending joints (each connects to a child link)
tf::Transform	collision_origin_transform_
	The constant transform applied to the collision geometry of the link (local)
tf::Transform	joint_origin_transform_
	The constant transform applied to the link (local)
const KinematicModel *	kinematic_model_
	KinematicState point for accessing locks.
std::string	name_
	Name of the link.
JointModel *	parent_joint_model_
	JointModel that connects this link to the parent link.
shapes::Shape *	shape_
	The geometry of the link.
Friends
class	KinematicModel

Detailed Description

A link from the robot. Contains the constant transform applied to the link and its geometry.

Definition at line 336 of file kinematic_model.h.

Constructor & Destructor Documentation

planning_models::KinematicModel::LinkModel::LinkModel ( const KinematicModel * kinematic_model )

Definition at line 1107 of file kinematic_model.cpp.

planning_models::KinematicModel::LinkModel::LinkModel ( const LinkModel * link_model )

Definition at line 1116 of file kinematic_model.cpp.

planning_models::KinematicModel::LinkModel::~LinkModel ( void )

Definition at line 1142 of file kinematic_model.cpp.

Member Function Documentation

void planning_models::KinematicModel::LinkModel::addAttachedBodyModel ( AttachedBodyModel * attached_body_model ) [private]

Definition at line 1183 of file kinematic_model.cpp.

void planning_models::KinematicModel::LinkModel::clearAttachedBodyModels ( ) [private]

Removes all attached body models from this link, requiring an exclusive lock.

Definition at line 1152 of file kinematic_model.cpp.

void planning_models::KinematicModel::LinkModel::clearLinkAttachedBodyModel ( const std::string & att_name ) [private]

Definition at line 1170 of file kinematic_model.cpp.

const std::vector<AttachedBodyModel*>& planning_models::KinematicModel::LinkModel::getAttachedBodyModels ( ) const [inline]

Definition at line 371 of file kinematic_model.h.

const std::vector<JointModel*>& planning_models::KinematicModel::LinkModel::getChildJointModels ( ) const [inline]

Definition at line 355 of file kinematic_model.h.

const tf::Transform& planning_models::KinematicModel::LinkModel::getCollisionOriginTransform ( ) const [inline]

Definition at line 363 of file kinematic_model.h.

const tf::Transform& planning_models::KinematicModel::LinkModel::getJointOriginTransform ( ) const [inline]

Definition at line 359 of file kinematic_model.h.

const shapes::Shape* planning_models::KinematicModel::LinkModel::getLinkShape ( ) const [inline]

Definition at line 367 of file kinematic_model.h.

const std::string& planning_models::KinematicModel::LinkModel::getName ( void ) const [inline]

Definition at line 347 of file kinematic_model.h.

const JointModel* planning_models::KinematicModel::LinkModel::getParentJointModel ( ) const [inline]

Definition at line 351 of file kinematic_model.h.

void planning_models::KinematicModel::LinkModel::replaceAttachedBodyModels ( std::vector< AttachedBodyModel * > & attached_body_vector ) [private]