TreeChain Class Reference

#include <TreeChain.h>

List of all members.

Public Member Functions
Eigen::Matrix< double, 7, 1 >	fk (const std::vector< double > &treeJnts)
Eigen::Matrix< double, 7, 1 >	fk ()
Eigen::Matrix< double, 6, 1 >	fk_vel ()
const KDL::Jacobian &	getJ () const
void	init (const KDL::Tree &tree, const std::string &root, const std::string &tip, std::vector< double > &Kgains, std::vector< double > &Dgains)
const KDL::JntArray &	moveCart (Eigen::Matrix< double, 7, 1 > &cartCmd, const std::vector< double > &treeJnts, const std::vector< double > &treeJntsVel)
const KDL::JntArray &	moveCart (KDL::Twist &cartVelCmd, const std::vector< double > &treeJnts, const std::vector< double > &treeJntsVel)
const KDL::JntArray &	moveCart (Eigen::Matrix< double, 7, 1 > &cartCmd, KDL::Twist &cartVelCmd, const std::vector< double > &treeJnts, const std::vector< double > &treeJntsVel)
int	size () const
	TreeChain ()
int	treeIdx (int chainIdx) const
Private Member Functions
void	update (const std::vector< double > &treeJnts, const std::vector< double > &treeJntsVel)
Private Attributes
KDL::Chain	chain
std::vector< int >	chain2Tree
KDL::JntArray	full_result
KDL::Jacobian	fullJ
KDL::Jacobian	J
int	jnt_size
KDL::JntArray	jnts
KDL::JntArrayVel	jntsVel
std::vector< double > *	pD
std::vector< double > *	pK
KDL::JntArray	result
int	tree_size

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Detailed Description

calculates torque commands (using jacobian transpose ) for a chain and then returns results applicable for the full tree

Definition at line 38 of file TreeChain.h.

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Constructor & Destructor Documentation

TreeChain::TreeChain

(

)

[inline]

Definition at line 78 of file TreeChain.h.

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Member Function Documentation

Eigen::Matrix<double,7,1> TreeChain::fk

(

const std::vector< double > &

treeJnts

)

[inline]

Definition at line 208 of file TreeChain.h.

Eigen::Matrix<double,7, 1> TreeChain::fk

(

)

[inline]

Definition at line 214 of file TreeChain.h.

Eigen::Matrix<double,6, 1> TreeChain::fk_vel

(

)

[inline]

trouble when jnts are not between -pi, pi?

Definition at line 232 of file TreeChain.h.

const KDL::Jacobian& TreeChain::getJ

(

)

const [inline]

Definition at line 77 of file TreeChain.h.

void TreeChain::init	(	const KDL::Tree &	tree,
		const std::string &	root,
		const std::string &	tip,
		std::vector< double > &	Kgains,
		std::vector< double > &	Dgains
	)		[inline]

Definition at line 79 of file TreeChain.h.

const KDL::JntArray& TreeChain::moveCart	(	Eigen::Matrix< double, 7, 1 > &	cartCmd,
		const std::vector< double > &	treeJnts,
		const std::vector< double > &	treeJntsVel
	)		[inline]

Definition at line 131 of file TreeChain.h.

const KDL::JntArray& TreeChain::moveCart	(	KDL::Twist &	cartVelCmd,
		const std::vector< double > &	treeJnts,
		const std::vector< double > &	treeJntsVel
	)		[inline]

Definition at line 160 of file TreeChain.h.

const KDL::JntArray& TreeChain::moveCart	(	Eigen::Matrix< double, 7, 1 > &	cartCmd,
		KDL::Twist &	cartVelCmd,
		const std::vector< double > &	treeJnts,
		const std::vector< double > &	treeJntsVel
	)		[inline]

Definition at line 178 of file TreeChain.h.

int TreeChain::size

(

void

)

const [inline]

Definition at line 72 of file TreeChain.h.

int TreeChain::treeIdx

(

int

chainIdx

)

const [inline]

Definition at line 73 of file TreeChain.h.

void TreeChain::update	(	const std::vector< double > &	treeJnts,
		const std::vector< double > &	treeJntsVel
	)		[inline, private]

Definition at line 54 of file TreeChain.h.

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Member Data Documentation

KDL::Chain TreeChain::chain [private]

Definition at line 40 of file TreeChain.h.

std::vector<int> TreeChain::chain2Tree [private]

Definition at line 39 of file TreeChain.h.

KDL::JntArray TreeChain::full_result [private]

Definition at line 44 of file TreeChain.h.

KDL::Jacobian TreeChain::fullJ [private]

Definition at line 46 of file TreeChain.h.

KDL::Jacobian TreeChain::J [private]

Definition at line 45 of file TreeChain.h.

int TreeChain::jnt_size [private]

Definition at line 51 of file TreeChain.h.

KDL::JntArray TreeChain::jnts [private]

Definition at line 41 of file TreeChain.h.

KDL::JntArrayVel TreeChain::jntsVel [private]

Definition at line 42 of file TreeChain.h.

std::vector<double>* TreeChain::pD [private]

Definition at line 49 of file TreeChain.h.

std::vector<double>* TreeChain::pK [private]

Definition at line 48 of file TreeChain.h.

KDL::JntArray TreeChain::result [private]

Definition at line 43 of file TreeChain.h.

int TreeChain::tree_size [private]

Definition at line 52 of file TreeChain.h.

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

• TreeChain.h