The KDLChainData struct. More...

#include <kdl_utils.h>

Public Attributes
std::string	base_link_name
	Link name of first link in the kinematic object. More...

std::vector< std::pair< std::string, std::string > >	chains

std::vector< std::string >	joint_names
	List of joint names. More...

KDL::Tree	kdl_tree
	KDL tree object. More...

KDL::JntArray	q_max
	Upper joint limits. More...

KDL::JntArray	q_min
	Lower joint limits. More...

KDL::Chain	robot_chain
	KDL Chain object. More...

std::map< std::string, int >	segment_index
	A map from chain link name to kdl chain segment number. More...

std::string	tip_link_name
	Link name of last kink in the kinematic object. More...

Detailed Description

The KDLChainData struct.

This contains common data extracted when parsing a kdl chain from the scene graph

Definition at line 91 of file kdl_utils.h.

Member Data Documentation

◆ base_link_name

std::string tesseract_kinematics::KDLChainData::base_link_name

Link name of first link in the kinematic object.

Definition at line 96 of file kdl_utils.h.

◆ chains

std::vector<std::pair<std::string, std::string> > tesseract_kinematics::KDLChainData::chains

The chains used to create the object

Definition at line 99 of file kdl_utils.h.

◆ joint_names

std::vector<std::string> tesseract_kinematics::KDLChainData::joint_names

List of joint names.

Definition at line 95 of file kdl_utils.h.

◆ kdl_tree

KDL::Tree tesseract_kinematics::KDLChainData::kdl_tree

KDL tree object.

Definition at line 94 of file kdl_utils.h.

◆ q_max

KDL::JntArray tesseract_kinematics::KDLChainData::q_max

Upper joint limits.

Definition at line 101 of file kdl_utils.h.

◆ q_min

KDL::JntArray tesseract_kinematics::KDLChainData::q_min

Lower joint limits.

Definition at line 100 of file kdl_utils.h.

◆ robot_chain

KDL::Chain tesseract_kinematics::KDLChainData::robot_chain

KDL Chain object.

Definition at line 93 of file kdl_utils.h.

◆ segment_index

std::map<std::string, int> tesseract_kinematics::KDLChainData::segment_index

A map from chain link name to kdl chain segment number.

Definition at line 98 of file kdl_utils.h.

◆ tip_link_name

std::string tesseract_kinematics::KDLChainData::tip_link_name

Link name of last kink in the kinematic object.

Definition at line 97 of file kdl_utils.h.

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

kdl_utils.h

Public Attributes