KinematicExtensionLookat Class Reference

Class to be used for Cartesian KinematicExtensions for Lookat. More...

#include <kinematic_extension_lookat.h>

Inheritance diagram for KinematicExtensionLookat:

Public Member Functions
virtual KDL::Jacobian	adjustJacobian (const KDL::Jacobian &jac_chain)
virtual JointStates	adjustJointStates (const JointStates &joint_states)
virtual LimiterParams	adjustLimiterParams (const LimiterParams &limiter_params)
bool	initExtension ()
	KinematicExtensionLookat (const TwistControllerParams &params)
virtual void	processResultExtension (const KDL::JntArray &q_dot_ik)
	~KinematicExtensionLookat ()
Public Member Functions inherited from KinematicExtensionBase
	KinematicExtensionBase (const TwistControllerParams &params)
virtual	~KinematicExtensionBase ()

Private Member Functions
void	broadcastFocusFrame (const ros::TimerEvent &event)

Private Attributes
tf::TransformBroadcaster	br_
KDL::Chain	chain_ext_
KDL::Chain	chain_full_
unsigned int	ext_dof_
boost::shared_ptr< KDL::ChainFkSolverPos_recursive >	fk_solver_ext_
boost::shared_ptr< SimpsonIntegrator >	integrator_
boost::shared_ptr< KDL::ChainJntToJacSolver >	jnt2jac_
JointStates	joint_states_ext_
JointStates	joint_states_full_
std::vector< double >	limits_ext_acc_
std::vector< double >	limits_ext_max_
std::vector< double >	limits_ext_min_
std::vector< double >	limits_ext_vel_
boost::mutex	mutex_
ros::Timer	timer_

Additional Inherited Members
Protected Attributes inherited from KinematicExtensionBase
ros::NodeHandle	nh_
const TwistControllerParams &	params_
tf::TransformListener	tf_listener_

Detailed Description

Class to be used for Cartesian KinematicExtensions for Lookat.

Definition at line 40 of file kinematic_extension_lookat.h.

Constructor & Destructor Documentation

KinematicExtensionLookat::KinematicExtensionLookat ( const TwistControllerParams &  params )

inlineexplicit

Definition at line 43 of file kinematic_extension_lookat.h.

KinematicExtensionLookat::~KinematicExtensionLookat ( )

inline

Definition at line 47 of file kinematic_extension_lookat.h.

Member Function Documentation

KDL::Jacobian KinematicExtensionLookat::adjustJacobian ( const KDL::Jacobian &  jac_chain )

virtual

compose jac_full considering kinematical extension

Implements KinematicExtensionBase.

Definition at line 161 of file kinematic_extension_lookat.cpp.

JointStates KinematicExtensionLookat::adjustJointStates ( const JointStates &  joint_states )

virtual

Implements KinematicExtensionBase.

Definition at line 172 of file kinematic_extension_lookat.cpp.

LimiterParams KinematicExtensionLookat::adjustLimiterParams ( const LimiterParams &  limiter_params )

virtual

Implements KinematicExtensionBase.

Definition at line 199 of file kinematic_extension_lookat.cpp.

void KinematicExtensionLookat::broadcastFocusFrame ( const ros::TimerEvent &  event )

private

Definition at line 236 of file kinematic_extension_lookat.cpp.

bool KinematicExtensionLookat::initExtension ( )

virtual

parse robot_description and generate KDL chains

Implements KinematicExtensionBase.

Definition at line 27 of file kinematic_extension_lookat.cpp.

void KinematicExtensionLookat::processResultExtension ( const KDL::JntArray &  q_dot_ik )

virtual

update JointStates using integration

Implements KinematicExtensionBase.

Definition at line 212 of file kinematic_extension_lookat.cpp.

Member Data Documentation

tf::TransformBroadcaster KinematicExtensionLookat::br_

private

Definition at line 73 of file kinematic_extension_lookat.h.

KDL::Chain KinematicExtensionLookat::chain_ext_

private

Definition at line 57 of file kinematic_extension_lookat.h.

KDL::Chain KinematicExtensionLookat::chain_full_

private

Definition at line 58 of file kinematic_extension_lookat.h.

unsigned int KinematicExtensionLookat::ext_dof_

private

Definition at line 56 of file kinematic_extension_lookat.h.

boost::shared_ptr<KDL::ChainFkSolverPos_recursive> KinematicExtensionLookat::fk_solver_ext_

private

Definition at line 67 of file kinematic_extension_lookat.h.

boost::shared_ptr<SimpsonIntegrator> KinematicExtensionLookat::integrator_

private

Definition at line 69 of file kinematic_extension_lookat.h.

boost::shared_ptr<KDL::ChainJntToJacSolver> KinematicExtensionLookat::jnt2jac_

private

Definition at line 66 of file kinematic_extension_lookat.h.

JointStates KinematicExtensionLookat::joint_states_ext_

private

Definition at line 59 of file kinematic_extension_lookat.h.

JointStates KinematicExtensionLookat::joint_states_full_

private

Definition at line 60 of file kinematic_extension_lookat.h.

std::vector<double> KinematicExtensionLookat::limits_ext_acc_

private

Definition at line 64 of file kinematic_extension_lookat.h.

std::vector<double> KinematicExtensionLookat::limits_ext_max_

private

Definition at line 61 of file kinematic_extension_lookat.h.

std::vector<double> KinematicExtensionLookat::limits_ext_min_

private

Definition at line 62 of file kinematic_extension_lookat.h.

std::vector<double> KinematicExtensionLookat::limits_ext_vel_

private

Definition at line 63 of file kinematic_extension_lookat.h.

boost::mutex KinematicExtensionLookat::mutex_

private

Definition at line 71 of file kinematic_extension_lookat.h.

ros::Timer KinematicExtensionLookat::timer_

private

Definition at line 72 of file kinematic_extension_lookat.h.

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

• kinematic_extension_lookat.h
• kinematic_extension_lookat.cpp