Base class for kinematic extensions. More...
#include <kinematic_extension_base.h>
Public Member Functions | |
virtual KDL::Jacobian | adjustJacobian (const KDL::Jacobian &jac_chain)=0 |
virtual JointStates | adjustJointStates (const JointStates &joint_states)=0 |
virtual LimiterParams | adjustLimiterParams (const LimiterParams &limiter_params)=0 |
virtual bool | initExtension ()=0 |
KinematicExtensionBase (const TwistControllerParams ¶ms) | |
virtual void | processResultExtension (const KDL::JntArray &q_dot_ik)=0 |
virtual | ~KinematicExtensionBase () |
Protected Attributes | |
ros::NodeHandle | nh_ |
const TwistControllerParams & | params_ |
tf::TransformListener | tf_listener_ |
Base class for kinematic extensions.
Definition at line 28 of file kinematic_extension_base.h.
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inlineexplicit |
give tf_listener_ some time to fill buffer
Definition at line 31 of file kinematic_extension_base.h.
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inlinevirtual |
Definition at line 38 of file kinematic_extension_base.h.
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pure virtual |
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pure virtual |
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pure virtual |
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pure virtual |
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pure virtual |
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protected |
Definition at line 47 of file kinematic_extension_base.h.
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protected |
Definition at line 49 of file kinematic_extension_base.h.
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protected |
Definition at line 48 of file kinematic_extension_base.h.