planning_models::KinematicState::LinkState Class Reference

#include <kinematic_state.h>

List of all members.

Public Member Functions
void	computeTransform (void)
	Recompute global_collision_body_transform and global_link_transform.
const std::vector < AttachedBodyState * > &	getAttachedBodyStateVector () const
const tf::Transform &	getGlobalCollisionBodyTransform () const
const tf::Transform &	getGlobalLinkTransform () const
const KinematicModel::LinkModel *	getLinkModel () const
const std::string &	getName () const
const JointState *	getParentJointState () const
const LinkState *	getParentLinkState () const
	LinkState (const KinematicModel::LinkModel *lm)
void	setParentJointState (const JointState *js)
void	setParentLinkState (const LinkState *ls)
void	updateAttachedBodies ()
void	updateGivenGlobalLinkTransform (const tf::Transform &transform)
	~LinkState ()
Private Attributes
std::vector< AttachedBodyState * >	attached_body_state_vector_
tf::Transform	global_collision_body_transform_
	The global transform for this link (computed by forward kinematics)
tf::Transform	global_link_transform_
	The global transform this link forwards (computed by forward kinematics)
const KinematicModel::LinkModel *	link_model_
const JointState *	parent_joint_state_
const LinkState *	parent_link_state_

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Detailed Description

Definition at line 158 of file kinematic_state.h.

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Constructor & Destructor Documentation

planning_models::KinematicState::LinkState::LinkState

(

const KinematicModel::LinkModel *

lm

)

Definition at line 513 of file kinematic_state.cpp.

planning_models::KinematicState::LinkState::~LinkState

(

)

Definition at line 528 of file kinematic_state.cpp.

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Member Function Documentation

void planning_models::KinematicState::LinkState::computeTransform

(

void

)

Recompute global_collision_body_transform and global_link_transform.

Definition at line 535 of file kinematic_state.cpp.

const std::vector<AttachedBodyState*>& planning_models::KinematicState::LinkState::getAttachedBodyStateVector

(

)

const [inline]

Definition at line 208 of file kinematic_state.h.

const tf::Transform& planning_models::KinematicState::LinkState::getGlobalCollisionBodyTransform

(

)

const [inline]

Definition at line 218 of file kinematic_state.h.

const tf::Transform& planning_models::KinematicState::LinkState::getGlobalLinkTransform

(

)

const [inline]

Definition at line 213 of file kinematic_state.h.

const KinematicModel::LinkModel* planning_models::KinematicState::LinkState::getLinkModel

(

)

const [inline]

Definition at line 193 of file kinematic_state.h.

const std::string& planning_models::KinematicState::LinkState::getName

(

void

)

const [inline]

Definition at line 165 of file kinematic_state.h.

const JointState* planning_models::KinematicState::LinkState::getParentJointState

(

)

const [inline]

Definition at line 198 of file kinematic_state.h.

const LinkState* planning_models::KinematicState::LinkState::getParentLinkState

(

)

const [inline]

Definition at line 203 of file kinematic_state.h.

void planning_models::KinematicState::LinkState::setParentJointState

(

const JointState *

js

)

[inline]

Definition at line 170 of file kinematic_state.h.

void planning_models::KinematicState::LinkState::setParentLinkState

(

const LinkState *

ls

)

[inline]

Definition at line 175 of file kinematic_state.h.

void planning_models::KinematicState::LinkState::updateAttachedBodies

(

)

Definition at line 544 of file kinematic_state.cpp.

void planning_models::KinematicState::LinkState::updateGivenGlobalLinkTransform

(

const tf::Transform &

transform

)

[inline]

Definition at line 180 of file kinematic_state.h.

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Member Data Documentation

std::vector<AttachedBodyState*> planning_models::KinematicState::LinkState::attached_body_state_vector_ [private]

Definition at line 231 of file kinematic_state.h.

tf::Transform planning_models::KinematicState::LinkState::global_collision_body_transform_ [private]

The global transform for this link (computed by forward kinematics)

Definition at line 237 of file kinematic_state.h.

tf::Transform planning_models::KinematicState::LinkState::global_link_transform_ [private]

The global transform this link forwards (computed by forward kinematics)

Definition at line 234 of file kinematic_state.h.

const KinematicModel::LinkModel* planning_models::KinematicState::LinkState::link_model_ [private]

Definition at line 225 of file kinematic_state.h.

const JointState* planning_models::KinematicState::LinkState::parent_joint_state_ [private]

Definition at line 227 of file kinematic_state.h.

const LinkState* planning_models::KinematicState::LinkState::parent_link_state_ [private]

Definition at line 229 of file kinematic_state.h.

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

• kinematic_state.h
• kinematic_state.cpp