kinfamproperties.hpp
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5 * 2010 Steven Bellens *
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39 /* @Description:
40  * @brief KDL typekit for Orocos RTT
41  * @Author: Ruben Smits, Steven Bellens
42  */
43 
44 #ifndef JOINTPROPERTIES_HPP
45 #define JOINTPROPERTIES_HPP
46 
47 #include <kdl/joint.hpp>
48 #include <kdl/segment.hpp>
49 #include <kdl/kinfam_io.hpp>
50 #include <kdl/jacobian.hpp>
51 #include <kdl/jntarray.hpp>
52 
53 #include <rtt/PropertyBag.hpp>
54 
55 namespace RTT
56 {
57  using namespace KDL;
58 
59  void decomposeProperty(const Joint &joint, PropertyBag& target);
60  bool composeProperty(const PropertyBag& bag, Joint &joint);
61 
62  void decomposeProperty(const Segment &segment, PropertyBag& target);
63  bool composeProperty(const PropertyBag& bag, Segment &segment);
64 
65  void decomposeProperty(const Chain &chain, PropertyBag& target);
66  bool composeProperty(const PropertyBag& bag, Chain &chain);
67 
68  void decomposeProperty(const JntArray &jntarray, PropertyBag& target);
69  bool composeProperty(const PropertyBag& bag, JntArray &jntarray);
70 
71  void decomposeProperty(const Jacobian &jacobian, PropertyBag& target);
72  bool composeProperty(const PropertyBag& bag, Jacobian &jacobian);
73 
74 }
75 #endif
RTT::composeProperty
bool composeProperty(const PropertyBag &bag, Joint &joint)
Definition: kinfamproperties.cpp:57
RTT::decomposeProperty
void decomposeProperty(const Joint &joint, PropertyBag &targetbag)
Definition: kinfamproperties.cpp:51

kdl_typekit
Author(s): Steven Bellens, Ruben Smits
autogenerated on Wed Jul 3 2019 19:39:45