KdlTreeFk Class Reference

#include <KdlTreeFk.h>

Inheritance diagram for KdlTreeFk:

List of all members.

Public Member Functions
void	getPose (const KDL::JntArray &joints, const std::string &name, KDL::Frame &frame)
void	getPoses (const KDL::JntArray &joints, std::map< std::string, KDL::Frame > &frames)
	getPoses
void	getVelocities (const KDL::JntArrayVel &joints, std::map< std::string, KDL::FrameVel > &frames)
	getVelocities
	KdlTreeFk ()
	~KdlTreeFk ()
Protected Member Functions
virtual void	initialize ()
	initialize called by both of the load functions, allowing derived classes to perform additional initialization after the tree is loaded
void	recursiveGetPoses (bool getAll, const KDL::Frame &baseFrame, const KDL::SegmentMap::const_iterator &it, const KDL::JntArray &joints, std::map< std::string, KDL::Frame > &frames)
void	recursiveGetVels (bool getAll, const KDL::FrameVel &baseFrame, const KDL::SegmentMap::const_iterator &it, const KDL::JntArrayVel &joints, std::map< std::string, KDL::FrameVel > &frames)
Private Attributes
std::auto_ptr < KDL::TreeFkSolverPos >	fkSolver

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Detailed Description

Definition at line 18 of file KdlTreeFk.h.

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Constructor & Destructor Documentation

KdlTreeFk::KdlTreeFk

(

)

Definition at line 3 of file KdlTreeFk.cpp.

KdlTreeFk::~KdlTreeFk

(

)

Definition at line 7 of file KdlTreeFk.cpp.

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Member Function Documentation

void KdlTreeFk::getPose	(	const KDL::JntArray &	joints,
		const std::string &	name,
		KDL::Frame &	frame
	)

Definition at line 11 of file KdlTreeFk.cpp.

void KdlTreeFk::getPoses	(	const KDL::JntArray &	joints,
		std::map< std::string, KDL::Frame > &	frames
	)

getPoses

Parameters:

joints	input joints
frames	output frames

Exceptions:

std::runtime_error

- requested an unavailable pose

if frames is empty, all segments are returned, otherwise the segments named are returned

make sure all of the listed frames are available

Definition at line 23 of file KdlTreeFk.cpp.

void KdlTreeFk::getVelocities	(	const KDL::JntArrayVel &	joints,
		std::map< std::string, KDL::FrameVel > &	frames
	)

getVelocities

Parameters:

joints	input joints
frames	output frames

Exceptions:

std::runtime_error

- requested an unavailable pose

if frames is empty, all segments are returned, otherwise the segments named are returned

make sure all of the listed frames are available

Definition at line 60 of file KdlTreeFk.cpp.

void KdlTreeFk::initialize

(

)

[protected, virtual]

initialize called by both of the load functions, allowing derived classes to perform additional initialization after the tree is loaded

Reimplemented from KdlTreeParser.

Reimplemented in RosMsgTreeFk.

Definition at line 97 of file KdlTreeFk.cpp.

void KdlTreeFk::recursiveGetPoses	(	bool	getAll,
		const KDL::Frame &	baseFrame,
		const KDL::SegmentMap::const_iterator &	it,
		const KDL::JntArray &	joints,
		std::map< std::string, KDL::Frame > &	frames
	)		[protected]

get frame for this segment and store as needed

recurse

Definition at line 102 of file KdlTreeFk.cpp.

void KdlTreeFk::recursiveGetVels	(	bool	getAll,
		const KDL::FrameVel &	baseFrame,
		const KDL::SegmentMap::const_iterator &	it,
		const KDL::JntArrayVel &	joints,
		std::map< std::string, KDL::FrameVel > &	frames
	)		[protected]

get FrameVel for this segment and store as needed

recurse

Definition at line 135 of file KdlTreeFk.cpp.

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Member Data Documentation

std::auto_ptr<KDL::TreeFkSolverPos> KdlTreeFk::fkSolver [private]

Definition at line 52 of file KdlTreeFk.h.

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

• KdlTreeFk.h
• KdlTreeFk.cpp