KDLWrapper Class Reference

#include <kdl_wrapper.h>

List of all members.

Public Member Functions
KDL::Chain	getKDLChain ()
bool	init (const std::string &chain_root, const std::string &chain_tip)
bool	isInitialized ()
	KDLWrapper ()
virtual	~KDLWrapper ()
Public Attributes
KDL::ChainFkSolverAcc *	fk_solver_acc
KDL::ChainFkSolverPos *	fk_solver_pos
KDL::ChainFkSolverVel *	fk_solver_vel
KDL::ChainIkSolverVel_wdls *	ik_solver_vel
KDL::ChainJntToJacSolver *	jnt_jac_solver
ros::NodeHandle	n
Private Member Functions
bool	getTreeFromURDF (KDL::Tree &tree)
Private Attributes
KDL::Chain	m_chain
bool	m_initialized

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Detailed Description

Definition at line 49 of file kdl_wrapper.h.

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Constructor & Destructor Documentation

KDLWrapper::KDLWrapper

(

)

Definition at line 38 of file kdl_wrapper.cpp.

KDLWrapper::~KDLWrapper

(

)

[virtual]

Definition at line 51 of file kdl_wrapper.cpp.

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Member Function Documentation

KDL::Chain KDLWrapper::getKDLChain

(

)

Definition at line 103 of file kdl_wrapper.cpp.

bool KDLWrapper::getTreeFromURDF

(

KDL::Tree &

tree

)

[private]

Get robot_description from ROS parameter server

Get urdf model out of robot_description

Definition at line 108 of file kdl_wrapper.cpp.

bool KDLWrapper::init	(	const std::string &	chain_root,
		const std::string &	chain_tip
	)

Definition at line 61 of file kdl_wrapper.cpp.

bool KDLWrapper::isInitialized

(

)

Definition at line 98 of file kdl_wrapper.cpp.

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Member Data Documentation

KDL::ChainFkSolverAcc* KDLWrapper::fk_solver_acc

Definition at line 57 of file kdl_wrapper.h.

KDL::ChainFkSolverPos* KDLWrapper::fk_solver_pos

Definition at line 55 of file kdl_wrapper.h.

KDL::ChainFkSolverVel* KDLWrapper::fk_solver_vel

Definition at line 56 of file kdl_wrapper.h.

KDL::ChainIkSolverVel_wdls* KDLWrapper::ik_solver_vel

Definition at line 53 of file kdl_wrapper.h.

KDL::ChainJntToJacSolver* KDLWrapper::jnt_jac_solver

Definition at line 54 of file kdl_wrapper.h.

KDL::Chain KDLWrapper::m_chain [private]

Definition at line 78 of file kdl_wrapper.h.

bool KDLWrapper::m_initialized [private]

Definition at line 77 of file kdl_wrapper.h.

ros::NodeHandle KDLWrapper::n

Definition at line 52 of file kdl_wrapper.h.

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

• kdl_wrapper.h
• kdl_wrapper.cpp