KDL kinematic chain implementation. More...

#include <kdl_fwd_kin_chain.h>

Inheritance diagram for tesseract_kinematics::KDLFwdKinChain:

Public Types
using	ConstPtr = std::shared_ptr< const KDLFwdKinChain >

using	ConstUPtr = std::unique_ptr< const KDLFwdKinChain >

using	Ptr = std::shared_ptr< KDLFwdKinChain >

using	UPtr = std::unique_ptr< KDLFwdKinChain >

Public Types inherited from tesseract_kinematics::ForwardKinematics
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
tesseract_common::TransformMap	calcFwdKin (const Eigen::Ref< const Eigen::VectorXd > &joint_angles) const override final
	Calculates the transform for each tip link in the kinematic group. More...

Eigen::MatrixXd	calcJacobian (const Eigen::Ref< const Eigen::VectorXd > &joint_angles, const std::string &joint_link_name) const override final
	Calculates the Jacobian matrix for a given joint state in the reference frame of the specified link. More...

ForwardKinematics::UPtr	clone () const override final
	Clone the forward kinematics object. More...

std::string	getBaseLinkName () const override final
	Get the robot base link name. More...

std::vector< std::string >	getJointNames () const override final
	Get list of joint names for kinematic object. More...

std::string	getSolverName () const override final
	Get the name of the solver. Recommend using the name of the class. More...

std::vector< std::string >	getTipLinkNames () const override final
	Get list of tip link names for kinematic object. More...

	KDLFwdKinChain (const KDLFwdKinChain &other)

	KDLFwdKinChain (const tesseract_scene_graph::SceneGraph &scene_graph, const std::string &base_link, const std::string &tip_link, std::string solver_name=KDL_FWD_KIN_CHAIN_SOLVER_NAME)
	Initializes Forward Kinematics as chain Creates a forward kinematic chain object. More...

	KDLFwdKinChain (const tesseract_scene_graph::SceneGraph &scene_graph, const std::vector< std::pair< std::string, std::string > > &chains, std::string solver_name=KDL_FWD_KIN_CHAIN_SOLVER_NAME)
	Construct Forward Kinematics as chain Creates a forward kinematic chain object from sequential chains. More...

	KDLFwdKinChain (KDLFwdKinChain &&)=delete

Eigen::Index	numJoints () const override final
	Number of joints in robot. More...

KDLFwdKinChain &	operator= (const KDLFwdKinChain &other)

KDLFwdKinChain &	operator= (KDLFwdKinChain &&)=delete

	~KDLFwdKinChain () override=default

Public Member Functions inherited from tesseract_kinematics::ForwardKinematics
	ForwardKinematics ()=default

	ForwardKinematics (const ForwardKinematics &)=default

	ForwardKinematics (ForwardKinematics &&)=default

ForwardKinematics &	operator= (const ForwardKinematics &)=default

ForwardKinematics &	operator= (ForwardKinematics &&)=default

virtual	~ForwardKinematics ()=default

Private Member Functions
tesseract_common::TransformMap	calcFwdKinHelperAll (const Eigen::Ref< const Eigen::VectorXd > &joint_angles) const
	calcFwdKin helper function More...

bool	calcJacobianHelper (KDL::Jacobian &jacobian, const Eigen::Ref< const Eigen::VectorXd > &joint_angles, int segment_num=-1) const
	calcJacobian helper function More...

Private Attributes
std::unique_ptr< KDL::ChainFkSolverPos_recursive >	fk_solver_

std::unique_ptr< KDL::ChainJntToJacSolver >	jac_solver_

KDLChainData	kdl_data_

std::mutex	mutex_
	KDL is not thread safe due to mutable variables in Joint Class. More...

std::string	name_

std::string	solver_name_ { KDL_FWD_KIN_CHAIN_SOLVER_NAME }
	Name of this solver. More...

Detailed Description

KDL kinematic chain implementation.

Typically, just wrappers around the equivalent KDL calls.

Definition at line 49 of file kdl_fwd_kin_chain.h.

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 57 of file kdl_fwd_kin_chain.h.

◆ ConstUPtr

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

Definition at line 59 of file kdl_fwd_kin_chain.h.

◆ Ptr

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

Definition at line 56 of file kdl_fwd_kin_chain.h.

◆ UPtr

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

Definition at line 58 of file kdl_fwd_kin_chain.h.

Constructor & Destructor Documentation

◆ ~KDLFwdKinChain()

tesseract_kinematics::KDLFwdKinChain::~KDLFwdKinChain ( )

overridedefault

◆ KDLFwdKinChain() [1/4]

tesseract_kinematics::KDLFwdKinChain::KDLFwdKinChain ( const KDLFwdKinChain & other )

Definition at line 66 of file kdl_fwd_kin_chain.cpp.

◆ KDLFwdKinChain() [2/4]

tesseract_kinematics::KDLFwdKinChain::KDLFwdKinChain ( KDLFwdKinChain && )

delete

◆ KDLFwdKinChain() [3/4]

tesseract_kinematics::KDLFwdKinChain::KDLFwdKinChain	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const std::string &	base_link,
		const std::string &	tip_link,
		std::string	solver_name = `KDL_FWD_KIN_CHAIN_SOLVER_NAME`
	)

Initializes Forward Kinematics as chain Creates a forward kinematic chain object.

Parameters

scene_graph	The Tesseract Scene Graph
base_link	The name of the base link for the kinematic chain
tip_link	The name of the tip link for the kinematic chain
solver_name	The solver name of the kinematic chain

Definition at line 56 of file kdl_fwd_kin_chain.cpp.

◆ KDLFwdKinChain() [4/4]

tesseract_kinematics::KDLFwdKinChain::KDLFwdKinChain	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const std::vector< std::pair< std::string, std::string > > &	chains,
		std::string	solver_name = `KDL_FWD_KIN_CHAIN_SOLVER_NAME`
	)

Construct Forward Kinematics as chain Creates a forward kinematic chain object from sequential chains.

Parameters

scene_graph	The Tesseract Scene Graph
chains	A vector of kinematics chains <base_link, tip_link> that get concatenated
solver_name	The solver name of the kinematic chain

Member Function Documentation

◆ calcFwdKin()

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

finaloverridevirtual

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

Implements tesseract_kinematics::ForwardKinematics.

Definition at line 101 of file kdl_fwd_kin_chain.cpp.

◆ calcFwdKinHelperAll()

tesseract_common::TransformMap tesseract_kinematics::KDLFwdKinChain::calcFwdKinHelperAll ( const Eigen::Ref< const Eigen::VectorXd > & joint_angles ) const

private

calcFwdKin helper function

Definition at line 78 of file kdl_fwd_kin_chain.cpp.

◆ calcJacobian()

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

finaloverridevirtual

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

Implements tesseract_kinematics::ForwardKinematics.

Definition at line 132 of file kdl_fwd_kin_chain.cpp.

◆ calcJacobianHelper()

bool tesseract_kinematics::KDLFwdKinChain::calcJacobianHelper	(	KDL::Jacobian &	jacobian,
		const Eigen::Ref< const Eigen::VectorXd > &	joint_angles,
		int	segment_num = `-1`
	)		const

private

calcJacobian helper function

Definition at line 108 of file kdl_fwd_kin_chain.cpp.

◆ clone()

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

finaloverridevirtual

Clone the forward kinematics object.

Implements tesseract_kinematics::ForwardKinematics.

Definition at line 64 of file kdl_fwd_kin_chain.cpp.

◆ getBaseLinkName()

std::string tesseract_kinematics::KDLFwdKinChain::getBaseLinkName ( ) const

finaloverridevirtual

Get the robot base link name.

Implements tesseract_kinematics::ForwardKinematics.

Definition at line 154 of file kdl_fwd_kin_chain.cpp.

◆ getJointNames()

std::vector< std::string > tesseract_kinematics::KDLFwdKinChain::getJointNames ( ) const

finaloverridevirtual

Get list of joint names for kinematic object.

Returns: A vector of joint names

Implements tesseract_kinematics::ForwardKinematics.

Definition at line 150 of file kdl_fwd_kin_chain.cpp.

◆ getSolverName()

std::string tesseract_kinematics::KDLFwdKinChain::getSolverName ( ) const

finaloverridevirtual

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

Implements tesseract_kinematics::ForwardKinematics.

Definition at line 158 of file kdl_fwd_kin_chain.cpp.

◆ getTipLinkNames()

std::vector< std::string > tesseract_kinematics::KDLFwdKinChain::getTipLinkNames ( ) const

finaloverridevirtual

Get list of tip link names for kinematic object.

Returns: A vector of link names

Implements tesseract_kinematics::ForwardKinematics.

Definition at line 156 of file kdl_fwd_kin_chain.cpp.

◆ numJoints()

Eigen::Index tesseract_kinematics::KDLFwdKinChain::numJoints ( ) const

finaloverridevirtual

Number of joints in robot.

Returns: Number of joints in robot

Implements tesseract_kinematics::ForwardKinematics.

Definition at line 152 of file kdl_fwd_kin_chain.cpp.

◆ operator=() [1/2]

KDLFwdKinChain & tesseract_kinematics::KDLFwdKinChain::operator= ( const KDLFwdKinChain & other )

Definition at line 67 of file kdl_fwd_kin_chain.cpp.

◆ operator=() [2/2]

KDLFwdKinChain& tesseract_kinematics::KDLFwdKinChain::operator= ( KDLFwdKinChain && )

delete

Member Data Documentation

◆ fk_solver_

std::unique_ptr<KDL::ChainFkSolverPos_recursive> tesseract_kinematics::KDLFwdKinChain::fk_solver_

private

KDL Forward Kinematic Solver

Definition at line 106 of file kdl_fwd_kin_chain.h.

◆ jac_solver_

std::unique_ptr<KDL::ChainJntToJacSolver> tesseract_kinematics::KDLFwdKinChain::jac_solver_

private

KDL Jacobian Solver

Definition at line 107 of file kdl_fwd_kin_chain.h.

◆ kdl_data_

KDLChainData tesseract_kinematics::KDLFwdKinChain::kdl_data_

private

KDL data parsed from Scene Graph

Definition at line 104 of file kdl_fwd_kin_chain.h.

◆ mutex_

std::mutex tesseract_kinematics::KDLFwdKinChain::mutex_

mutableprivate

KDL is not thread safe due to mutable variables in Joint Class.

Definition at line 109 of file kdl_fwd_kin_chain.h.

◆ name_

std::string tesseract_kinematics::KDLFwdKinChain::name_

private

Name of the kinematic chain

Definition at line 105 of file kdl_fwd_kin_chain.h.

◆ solver_name_

std::string tesseract_kinematics::KDLFwdKinChain::solver_name_ { KDL_FWD_KIN_CHAIN_SOLVER_NAME }

private

Name of this solver.

Definition at line 108 of file kdl_fwd_kin_chain.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ ConstUPtr

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ ~KDLFwdKinChain()

◆ KDLFwdKinChain() [1/4]

◆ KDLFwdKinChain() [2/4]

◆ KDLFwdKinChain() [3/4]

◆ KDLFwdKinChain() [4/4]

Member Function Documentation

◆ calcFwdKin()

◆ calcFwdKinHelperAll()

◆ calcJacobian()

◆ calcJacobianHelper()

◆ clone()

◆ getBaseLinkName()

◆ getJointNames()

◆ getSolverName()

◆ getTipLinkNames()

◆ numJoints()

◆ operator=() [1/2]

◆ operator=() [2/2]

Member Data Documentation

◆ fk_solver_

◆ jac_solver_

◆ kdl_data_

◆ mutex_

◆ name_

◆ solver_name_