tesseract_kinematics::ForwardKinematics Class Reference

Forward kinematics functions. More...

#include <forward_kinematics.h>

Inheritance diagram for tesseract_kinematics::ForwardKinematics:

Public Types
using	ConstPtr = std::shared_ptr< const ForwardKinematics >
using	ConstUPtr = std::unique_ptr< const ForwardKinematics >
using	Ptr = std::shared_ptr< ForwardKinematics >
using	UPtr = std::unique_ptr< ForwardKinematics >

Public Member Functions
virtual tesseract_common::TransformMap	calcFwdKin (const Eigen::Ref< const Eigen::VectorXd > &joint_angles) const =0
	Calculates the transform for each tip link in the kinematic group. More...
virtual Eigen::MatrixXd	calcJacobian (const Eigen::Ref< const Eigen::VectorXd > &joint_angles, const std::string &link_name) const =0
	Calculates the Jacobian matrix for a given joint state in the reference frame of the specified link. More...
virtual ForwardKinematics::UPtr	clone () const =0
	Clone the forward kinematics object. More...
	ForwardKinematics ()=default
	ForwardKinematics (const ForwardKinematics &)=default
	ForwardKinematics (ForwardKinematics &&)=default
virtual std::string	getBaseLinkName () const =0
	Get the robot base link name. More...
virtual std::vector< std::string >	getJointNames () const =0
	Get list of joint names for kinematic object. More...
virtual std::string	getSolverName () const =0
	Get the name of the solver. Recommend using the name of the class. More...
virtual std::vector< std::string >	getTipLinkNames () const =0
	Get list of tip link names for kinematic object. More...
virtual Eigen::Index	numJoints () const =0
	Number of joints in robot. More...
ForwardKinematics &	operator= (const ForwardKinematics &)=default
ForwardKinematics &	operator= (ForwardKinematics &&)=default
virtual	~ForwardKinematics ()=default

Detailed Description

Forward kinematics functions.

Definition at line 43 of file forward_kinematics.h.

Member Typedef Documentation

ConstPtr

using tesseract_kinematics::ForwardKinematics::ConstPtr = std::shared_ptr<const ForwardKinematics>

Definition at line 51 of file forward_kinematics.h.

ConstUPtr

using tesseract_kinematics::ForwardKinematics::ConstUPtr = std::unique_ptr<const ForwardKinematics>

Definition at line 53 of file forward_kinematics.h.

Ptr

using tesseract_kinematics::ForwardKinematics::Ptr = std::shared_ptr<ForwardKinematics>

Definition at line 50 of file forward_kinematics.h.

UPtr

using tesseract_kinematics::ForwardKinematics::UPtr = std::unique_ptr<ForwardKinematics>

Definition at line 52 of file forward_kinematics.h.

Constructor & Destructor Documentation

ForwardKinematics() [1/3]

tesseract_kinematics::ForwardKinematics::ForwardKinematics ( )

default

~ForwardKinematics()

virtual tesseract_kinematics::ForwardKinematics::~ForwardKinematics ( )

virtualdefault

ForwardKinematics() [2/3]

tesseract_kinematics::ForwardKinematics::ForwardKinematics ( const ForwardKinematics &  )

default

ForwardKinematics() [3/3]

tesseract_kinematics::ForwardKinematics::ForwardKinematics ( ForwardKinematics &&  )

default

Member Function Documentation

calcFwdKin()

virtual tesseract_common::TransformMap tesseract_kinematics::ForwardKinematics::calcFwdKin ( const Eigen::Ref< const Eigen::VectorXd > &  joint_angles ) const

pure virtual

Calculates the transform for each tip link in the kinematic group.

This should return a transform for every link listed in getTipLinkNames() Throws an exception on failures (including uninitialized)

Parameters

joint_angles

Vector of joint angles (size must match number of joints in robot chain)

Returns

A map of tip link names and transforms

Implemented in tesseract_kinematics::KDLFwdKinChain.

calcJacobian()

virtual Eigen::MatrixXd tesseract_kinematics::ForwardKinematics::calcJacobian ( const Eigen::Ref< const Eigen::VectorXd > &  joint_angles, const std::string &  link_name  ) const

pure virtual

Calculates the Jacobian matrix for a given joint state in the reference frame of the specified link.

This should be able to return a jacobian given any link listed in getTipLinkNames() Throws an exception on failures (including uninitialized)

Parameters

joint_angles	Input vector of joint angles
link_name	The link name to calculate jacobian

Returns

The jacobian at the provided link

Implemented in tesseract_kinematics::KDLFwdKinChain.

clone()

virtual ForwardKinematics::UPtr tesseract_kinematics::ForwardKinematics::clone ( ) const

pure virtual

Clone the forward kinematics object.

Implemented in tesseract_kinematics::KDLFwdKinChain.

getBaseLinkName()

virtual std::string tesseract_kinematics::ForwardKinematics::getBaseLinkName ( ) const

pure virtual

Get the robot base link name.

Implemented in tesseract_kinematics::KDLFwdKinChain.

getJointNames()

virtual std::vector<std::string> tesseract_kinematics::ForwardKinematics::getJointNames ( ) const

pure virtual

Get list of joint names for kinematic object.

Returns

A vector of joint names

Implemented in tesseract_kinematics::KDLFwdKinChain.

getSolverName()

virtual std::string tesseract_kinematics::ForwardKinematics::getSolverName ( ) const

pure virtual

Get the name of the solver. Recommend using the name of the class.

Implemented in tesseract_kinematics::KDLFwdKinChain.

getTipLinkNames()

virtual std::vector<std::string> tesseract_kinematics::ForwardKinematics::getTipLinkNames ( ) const

pure virtual

Get list of tip link names for kinematic object.

Returns

A vector of link names

Implemented in tesseract_kinematics::KDLFwdKinChain.

numJoints()

virtual Eigen::Index tesseract_kinematics::ForwardKinematics::numJoints ( ) const

pure virtual

Number of joints in robot.

Returns

Number of joints in robot

Implemented in tesseract_kinematics::KDLFwdKinChain.

operator=() [1/2]

ForwardKinematics& tesseract_kinematics::ForwardKinematics::operator= ( const ForwardKinematics &  )

default

operator=() [2/2]

ForwardKinematics& tesseract_kinematics::ForwardKinematics::operator= ( ForwardKinematics &&  )

default

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

• forward_kinematics.h