Class implementing a KinematicExtension for Torso based on URDF. More...

Inheritance diagram for KinematicExtensionTorso:

Public Member Functions
bool	initExtension ()

	KinematicExtensionTorso (const TwistControllerParams &params)

	~KinematicExtensionTorso ()

Public Member Functions inherited from KinematicExtensionURDF
virtual KDL::Jacobian	adjustJacobian (const KDL::Jacobian &jac_chain)

virtual JointStates	adjustJointStates (const JointStates &joint_states)

virtual LimiterParams	adjustLimiterParams (const LimiterParams &limiter_params)

void	jointstateCallback (const sensor_msgs::JointState::ConstPtr &msg)

	KinematicExtensionURDF (const TwistControllerParams &params)

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

	~KinematicExtensionURDF ()

Public Member Functions inherited from KinematicExtensionBase
	KinematicExtensionBase (const TwistControllerParams &params)

virtual	~KinematicExtensionBase ()

Additional Inherited Members
Protected Attributes inherited from KinematicExtensionURDF
KDL::Chain	chain_

ros::Publisher	command_pub_

std::string	ext_base_

unsigned int	ext_dof_

std::string	ext_tip_

std::vector< std::string >	joint_names_

ros::Subscriber	joint_state_sub_

JointStates	joint_states_

std::vector< double >	limits_acc_

std::vector< double >	limits_max_

std::vector< double >	limits_min_

std::vector< double >	limits_vel_

Protected Attributes inherited from KinematicExtensionBase
ros::NodeHandle	nh_

const TwistControllerParams &	params_

tf::TransformListener	tf_listener_

Detailed Description

Class implementing a KinematicExtension for Torso based on URDF.

Definition at line 72 of file kinematic_extension_urdf.h.

Constructor & Destructor Documentation

KinematicExtensionTorso::KinematicExtensionTorso ( const TwistControllerParams & params )

inlineexplicit

Definition at line 75 of file kinematic_extension_urdf.h.

KinematicExtensionTorso::~KinematicExtensionTorso ( )

inline

Definition at line 79 of file kinematic_extension_urdf.h.

bool KinematicExtensionTorso::initExtension ( )

inlinevirtual

Definition at line 81 of file kinematic_extension_urdf.h.

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