A solver which can perform forward kinematics for a limited set of joints Returns the joint positions, joint axes and segment frames. More...

#include <treefksolverjointposaxis_partial.hpp>

Public Member Functions
const std::vector< std::string >	getSegmentNames () const
const std::map< std::string, int >	getSegmentNameToIndex () const
int	JntToCartFull (const JntArray &q_in, std::vector< Vector > &joint_pos, std::vector< Vector > &joint_axis, std::vector< Frame > &segment_frames)
int	JntToCartPartial (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
	TreeFkSolverJointPosAxisPartial (const Tree &tree, const std::string &reference_frame, const std::vector< bool > &active_joints)
	~TreeFkSolverJointPosAxisPartial ()
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, int parent_segment_nr, bool active)
Private Attributes
std::vector< bool >	active_joints_
std::vector< bool >	joint_calc_pos_axis_
std::vector< const TreeElement * >	joint_parent_
std::vector< int >	joint_parent_frame_nr_
int	num_joints_
int	num_segments_
std::string	reference_frame_
int	reference_frame_index_
std::vector< int >	segment_evaluation_order_
std::vector< Frame >	segment_frames_
std::map< std::string, int >	segment_name_to_index_
std::vector< std::string >	segment_names_
std::vector< const TreeElement * >	segment_parent_
std::vector< int >	segment_parent_frame_nr_
Tree	tree_

Detailed Description

A solver which can perform forward kinematics for a limited set of joints Returns the joint positions, joint axes and segment frames.

Definition at line 50 of file treefksolverjointposaxis_partial.hpp.

Constructor & Destructor Documentation

KDL::TreeFkSolverJointPosAxisPartial::TreeFkSolverJointPosAxisPartial	(	const Tree &	tree,
		const std::string &	reference_frame,
		const std::vector< bool > &	active_joints
	)

Definition at line 44 of file treefksolverjointposaxis_partial.cpp.

KDL::TreeFkSolverJointPosAxisPartial::~TreeFkSolverJointPosAxisPartial ( )

Definition at line 72 of file treefksolverjointposaxis_partial.cpp.

Member Function Documentation

void KDL::TreeFkSolverJointPosAxisPartial::assignSegmentNumber ( const SegmentMap::const_iterator this_segment ) [private]

Definition at line 180 of file treefksolverjointposaxis_partial.cpp.

const std::vector< std::string > KDL::TreeFkSolverJointPosAxisPartial::getSegmentNames ( ) const

Definition at line 193 of file treefksolverjointposaxis_partial.cpp.

const std::map< std::string, int > KDL::TreeFkSolverJointPosAxisPartial::getSegmentNameToIndex ( ) const

Definition at line 198 of file treefksolverjointposaxis_partial.cpp.

int KDL::TreeFkSolverJointPosAxisPartial::JntToCartFull	(	const JntArray &	q_in,
		std::vector< Vector > &	joint_pos,
		std::vector< Vector > &	joint_axis,
		std::vector< Frame > &	segment_frames
	)

Definition at line 76 of file treefksolverjointposaxis_partial.cpp.

int KDL::TreeFkSolverJointPosAxisPartial::JntToCartPartial	(	const JntArray &	q_in,
		std::vector< Vector > &	joint_pos,
		std::vector< Vector > &	joint_axis,
		std::vector< Frame > &	segment_frames
	)		const

Definition at line 108 of file treefksolverjointposaxis_partial.cpp.

int KDL::TreeFkSolverJointPosAxisPartial::segmentNameToIndex ( std::string name ) const

Definition at line 203 of file treefksolverjointposaxis_partial.cpp.

int KDL::TreeFkSolverJointPosAxisPartial::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,
		int	parent_segment_nr,
		bool	active
	)		`[private]`