#include <kdl_state_solver.h>

Inheritance diagram for tesseract_scene_graph::KDLStateSolver:

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

using	ConstUPtr = std::unique_ptr< const KDLStateSolver >

using	Ptr = std::shared_ptr< KDLStateSolver >

using	UPtr = std::unique_ptr< KDLStateSolver >

Public Types inherited from tesseract_scene_graph::StateSolver
using	ConstPtr = std::shared_ptr< const StateSolver >

using	ConstUPtr = std::unique_ptr< const StateSolver >

using	Ptr = std::shared_ptr< StateSolver >

using	UPtr = std::unique_ptr< StateSolver >

Public Member Functions
StateSolver::UPtr	clone () const override
	This should clone the object so it may be used in a multi threaded application where each thread would clone the solver. More...

std::vector< std::string >	getActiveJointNames () const override final
	Get the vector of joint names which align with the limits. More...

std::vector< std::string >	getActiveLinkNames () const override final
	Get the vector of active link names. More...

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

std::vector< std::string >	getFloatingJointNames () const override final
	Get the vector of floating joint names. More...

Eigen::MatrixXd	getJacobian (const Eigen::Ref< const Eigen::VectorXd > &joint_values, const std::string &link_name, const tesseract_common::TransformMap &floating_joint_values={}) const override final
	Get the jacobian of the solver given the joint values. More...

Eigen::MatrixXd	getJacobian (const std::unordered_map< std::string, double > &joint_values, const std::string &link_name, const tesseract_common::TransformMap &floating_joint_values={}) const override final
	Get the jacobian of the scene for a given set or subset of joint values. More...

Eigen::MatrixXd	getJacobian (const std::vector< std::string > &joint_names, const Eigen::Ref< const Eigen::VectorXd > &joint_values, const std::string &link_name, const tesseract_common::TransformMap &floating_joint_values={}) const override final

std::vector< std::string >	getJointNames () const override final
	Get the vector of joint names. More...

tesseract_common::KinematicLimits	getLimits () const override final
	Getter for kinematic limits. More...

std::vector< std::string >	getLinkNames () const override final
	Get the vector of link names. More...

Eigen::Isometry3d	getLinkTransform (const std::string &link_name) const override final
	Get the transform corresponding to the link. More...

tesseract_common::VectorIsometry3d	getLinkTransforms () const override final
	Get all of the links transforms. More...

SceneState	getRandomState () const override final
	Get the random state of the environment. More...

Eigen::Isometry3d	getRelativeLinkTransform (const std::string &from_link_name, const std::string &to_link_name) const override final
	Get transform between two links using the current state. More...

SceneState	getState () const override final
	Get the current state of the scene. More...

SceneState	getState (const Eigen::Ref< const Eigen::VectorXd > &joint_values, const tesseract_common::TransformMap &floating_joint_values={}) const override final
	Get the state of the solver given the joint values. More...

SceneState	getState (const std::unordered_map< std::string, double > &joint_values, const tesseract_common::TransformMap &floating_joint_values={}) const override final
	Get the state of the scene for a given set or subset of joint values. More...

SceneState	getState (const std::vector< std::string > &joint_names, const Eigen::Ref< const Eigen::VectorXd > &joint_values, const tesseract_common::TransformMap &floating_joint_values={}) const override final

SceneState	getState (const tesseract_common::TransformMap &floating_joint_values) const override final
	Get the state given floating joint values. More...

std::vector< std::string >	getStaticLinkNames () const override final
	Get a vector of static link names in the environment. More...

bool	hasLinkName (const std::string &link_name) const override final
	Check if link name exists. More...

bool	isActiveLinkName (const std::string &link_name) const override final
	Check if link is an active link. More...

	KDLStateSolver (const KDLStateSolver &other)

	KDLStateSolver (const tesseract_scene_graph::SceneGraph &scene_graph)

	KDLStateSolver (const tesseract_scene_graph::SceneGraph &scene_graph, KDLTreeData data)

	KDLStateSolver (KDLStateSolver &&)=delete

KDLStateSolver &	operator= (const KDLStateSolver &other)

KDLStateSolver &	operator= (KDLStateSolver &&)=delete

void	setState (const Eigen::Ref< const Eigen::VectorXd > &joint_values, const tesseract_common::TransformMap &floating_joint_values={}) override final
	Set the current state of the solver. More...

void	setState (const std::unordered_map< std::string, double > &joint_values, const tesseract_common::TransformMap &floating_joint_values={}) override final
	Set the current state of the solver. More...

void	setState (const std::vector< std::string > &joint_names, const Eigen::Ref< const Eigen::VectorXd > &joint_values, const tesseract_common::TransformMap &floating_joint_values={}) override final

void	setState (const tesseract_common::TransformMap &floating_joint_values) override final
	Set the current state of the floating joint values. More...

	~KDLStateSolver () override=default

Public Member Functions inherited from tesseract_scene_graph::StateSolver
StateSolver &	operator= (const StateSolver &)=default

StateSolver &	operator= (StateSolver &&)=default

	StateSolver ()=default

	StateSolver (const StateSolver &)=default

	StateSolver (StateSolver &&)=default

virtual	~StateSolver ()=default

Private Member Functions
bool	calcJacobianHelper (KDL::Jacobian &jacobian, const KDL::JntArray &kdl_joints, const std::string &link_name) const

void	calculateTransforms (SceneState &state, const KDL::JntArray &q_in, const KDL::SegmentMap::const_iterator &it, const Eigen::Isometry3d &parent_frame) const

void	calculateTransformsHelper (SceneState &state, const KDL::JntArray &q_in, const KDL::SegmentMap::const_iterator &it, const Eigen::Isometry3d &parent_frame) const

KDL::JntArray	getKDLJntArray (const std::unordered_map< std::string, double > &joint_values) const

KDL::JntArray	getKDLJntArray (const std::vector< std::string > &joint_names, const Eigen::Ref< const Eigen::VectorXd > &joint_values) const
	Get an updated kdl joint array. More...

bool	processKDLData (const tesseract_scene_graph::SceneGraph &scene_graph)

bool	setJointValuesHelper (KDL::JntArray &q, const std::string &joint_name, const double &joint_value) const

Private Attributes
SceneState	current_state_

KDLTreeData	data_

std::unique_ptr< KDL::TreeJntToJacSolver >	jac_solver_

std::vector< int >	joint_qnr_

std::unordered_map< std::string, unsigned int >	joint_to_qnr_

KDL::JntArray	kdl_jnt_array_

tesseract_common::KinematicLimits	limits_

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

Detailed Description

Definition at line 44 of file kdl_state_solver.h.

Member Typedef Documentation

◆ ConstPtr

using tesseract_scene_graph::KDLStateSolver::ConstPtr = std::shared_ptr<const KDLStateSolver>

Definition at line 48 of file kdl_state_solver.h.

◆ ConstUPtr

using tesseract_scene_graph::KDLStateSolver::ConstUPtr = std::unique_ptr<const KDLStateSolver>

Definition at line 50 of file kdl_state_solver.h.

◆ Ptr

using tesseract_scene_graph::KDLStateSolver::Ptr = std::shared_ptr<KDLStateSolver>

Definition at line 47 of file kdl_state_solver.h.

◆ UPtr

using tesseract_scene_graph::KDLStateSolver::UPtr = std::unique_ptr<KDLStateSolver>

Definition at line 49 of file kdl_state_solver.h.

Constructor & Destructor Documentation

◆ KDLStateSolver() [1/4]

tesseract_scene_graph::KDLStateSolver::KDLStateSolver ( const tesseract_scene_graph::SceneGraph & scene_graph )

Definition at line 48 of file kdl_state_solver.cpp.

◆ KDLStateSolver() [2/4]

tesseract_scene_graph::KDLStateSolver::KDLStateSolver	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		KDLTreeData	data
	)

Definition at line 57 of file kdl_state_solver.cpp.

◆ ~KDLStateSolver()

tesseract_scene_graph::KDLStateSolver::~KDLStateSolver ( )

overridedefault

◆ KDLStateSolver() [3/4]

tesseract_scene_graph::KDLStateSolver::KDLStateSolver ( const KDLStateSolver & other )

Definition at line 63 of file kdl_state_solver.cpp.

◆ KDLStateSolver() [4/4]

tesseract_scene_graph::KDLStateSolver::KDLStateSolver ( KDLStateSolver && )

delete

Member Function Documentation

◆ calcJacobianHelper()

bool tesseract_scene_graph::KDLStateSolver::calcJacobianHelper	(	KDL::Jacobian &	jacobian,
		const KDL::JntArray &	kdl_joints,
		const std::string &	link_name
	)		const

private

Definition at line 370 of file kdl_state_solver.cpp.

◆ calculateTransforms()

void tesseract_scene_graph::KDLStateSolver::calculateTransforms	(	SceneState &	state,
		const KDL::JntArray &	q_in,
		const KDL::SegmentMap::const_iterator &	it,
		const Eigen::Isometry3d &	parent_frame
	)		const

private

Definition at line 361 of file kdl_state_solver.cpp.

◆ calculateTransformsHelper()

void tesseract_scene_graph::KDLStateSolver::calculateTransformsHelper	(	SceneState &	state,
		const KDL::JntArray &	q_in,
		const KDL::SegmentMap::const_iterator &	it,
		const Eigen::Isometry3d &	parent_frame
	)		const

private

Definition at line 334 of file kdl_state_solver.cpp.

◆ clone()

StateSolver::UPtr tesseract_scene_graph::KDLStateSolver::clone ( ) const

overridevirtual

This should clone the object so it may be used in a multi threaded application where each thread would clone the solver.

Returns: A clone of the object.

Implements tesseract_scene_graph::StateSolver.

Definition at line 46 of file kdl_state_solver.cpp.

◆ getActiveJointNames()

std::vector< std::string > tesseract_scene_graph::KDLStateSolver::getActiveJointNames ( ) const

finaloverridevirtual

Get the vector of joint names which align with the limits.

Returns: A vector of joint names

Implements tesseract_scene_graph::StateSolver.

Definition at line 230 of file kdl_state_solver.cpp.

◆ getActiveLinkNames()

std::vector< std::string > tesseract_scene_graph::KDLStateSolver::getActiveLinkNames ( ) const

finaloverridevirtual

Get the vector of active link names.

Returns: A vector of active link names

Implements tesseract_scene_graph::StateSolver.

Definition at line 236 of file kdl_state_solver.cpp.

◆ getBaseLinkName()

std::string tesseract_scene_graph::KDLStateSolver::getBaseLinkName ( ) const

finaloverridevirtual

Get the base link name.

Returns: The base link name

Implements tesseract_scene_graph::StateSolver.

Definition at line 232 of file kdl_state_solver.cpp.

◆ getFloatingJointNames()

std::vector< std::string > tesseract_scene_graph::KDLStateSolver::getFloatingJointNames ( ) const

finaloverridevirtual

Get the vector of floating joint names.

Returns: A vector of joint names

Implements tesseract_scene_graph::StateSolver.

Definition at line 228 of file kdl_state_solver.cpp.

◆ getJacobian() [1/3]

Eigen::MatrixXd tesseract_scene_graph::KDLStateSolver::getJacobian	(	const Eigen::Ref< const Eigen::VectorXd > &	joint_values,
		const std::string &	link_name,
		const tesseract_common::TransformMap &	floating_joint_values = `{}`
	)		const

finaloverridevirtual

Get the jacobian of the solver given the joint values.

This must be the same size and order as what is returned by getJointNames

Parameters

joint_values	The joint values
link_name	The link name to calculate the jacobian

Implements tesseract_scene_graph::StateSolver.

Definition at line 188 of file kdl_state_solver.cpp.

◆ getJacobian() [2/3]

Eigen::MatrixXd tesseract_scene_graph::KDLStateSolver::getJacobian	(	const std::unordered_map< std::string, double > &	joint_values,
		const std::string &	link_name,
		const tesseract_common::TransformMap &	floating_joint_values = `{}`
	)		const

finaloverridevirtual

Get the jacobian of the scene for a given set or subset of joint values.

This does not return the jacobian based on the provided joint names. It is order based on the order returned from getJointNames

This does not change the internal state of the solver.

Parameters

joints	A map of joint names to joint values to change.
link_name	The link name to calculate the jacobian

Returns: A the state of the environment

Implements tesseract_scene_graph::StateSolver.

Definition at line 201 of file kdl_state_solver.cpp.

◆ getJacobian() [3/3]

Eigen::MatrixXd tesseract_scene_graph::KDLStateSolver::getJacobian	(	const std::vector< std::string > &	joint_names,
		const Eigen::Ref< const Eigen::VectorXd > &	joint_values,
		const std::string &	link_name,
		const tesseract_common::TransformMap &	floating_joint_values = `{}`
	)		const

finaloverridevirtual

Implements tesseract_scene_graph::StateSolver.

Definition at line 213 of file kdl_state_solver.cpp.

◆ getJointNames()

std::vector< std::string > tesseract_scene_graph::KDLStateSolver::getJointNames ( ) const

finaloverridevirtual

Get the vector of joint names.

Returns: A vector of joint names

Implements tesseract_scene_graph::StateSolver.

Definition at line 226 of file kdl_state_solver.cpp.

◆ getKDLJntArray() [1/2]

KDL::JntArray tesseract_scene_graph::KDLStateSolver::getKDLJntArray ( const std::unordered_map< std::string, double > & joint_values ) const

private

Definition at line 396 of file kdl_state_solver.cpp.

◆ getKDLJntArray() [2/2]

KDL::JntArray tesseract_scene_graph::KDLStateSolver::getKDLJntArray	(	const std::vector< std::string > &	joint_names,
		const Eigen::Ref< const Eigen::VectorXd > &	joint_values
	)		const

private

Get an updated kdl joint array.

Definition at line 384 of file kdl_state_solver.cpp.

◆ getLimits()

tesseract_common::KinematicLimits tesseract_scene_graph::KDLStateSolver::getLimits ( ) const

finaloverridevirtual

Getter for kinematic limits.

Returns: The kinematic limits

Implements tesseract_scene_graph::StateSolver.

Definition at line 272 of file kdl_state_solver.cpp.

◆ getLinkNames()

std::vector< std::string > tesseract_scene_graph::KDLStateSolver::getLinkNames ( ) const

finaloverridevirtual

Get the vector of link names.

Returns: A vector of link names

Implements tesseract_scene_graph::StateSolver.

Definition at line 234 of file kdl_state_solver.cpp.

◆ getLinkTransform()

Eigen::Isometry3d tesseract_scene_graph::KDLStateSolver::getLinkTransform ( const std::string & link_name ) const

finaloverridevirtual

Get the transform corresponding to the link.

Returns: Transform and is identity when no transform is available.

Implements tesseract_scene_graph::StateSolver.

Definition at line 261 of file kdl_state_solver.cpp.

◆ getLinkTransforms()

tesseract_common::VectorIsometry3d tesseract_scene_graph::KDLStateSolver::getLinkTransforms ( ) const

finaloverridevirtual

Get all of the links transforms.

Order should be the same as getLinkNames()

Returns: Get a vector of transforms for all links.

Implements tesseract_scene_graph::StateSolver.

Definition at line 251 of file kdl_state_solver.cpp.

◆ getRandomState()

SceneState tesseract_scene_graph::KDLStateSolver::getRandomState ( ) const

finaloverridevirtual

Get the random state of the environment.

Returns: Environment state

Implements tesseract_scene_graph::StateSolver.

Definition at line 182 of file kdl_state_solver.cpp.

◆ getRelativeLinkTransform()

Eigen::Isometry3d tesseract_scene_graph::KDLStateSolver::getRelativeLinkTransform	(	const std::string &	from_link_name,
		const std::string &	to_link_name
	)		const

finaloverridevirtual

Get transform between two links using the current state.

Parameters

from_link_name	The link name the transform should be relative to
to_link_name	The link name to get transform

Returns: The relative transform = inv(Transform(from_link_name)) * Transform(to_link_name)

Implements tesseract_scene_graph::StateSolver.

Definition at line 266 of file kdl_state_solver.cpp.

◆ getState() [1/5]

SceneState tesseract_scene_graph::KDLStateSolver::getState ( ) const

finaloverridevirtual

Get the current state of the scene.

Returns: The current state

Implements tesseract_scene_graph::StateSolver.

Definition at line 180 of file kdl_state_solver.cpp.

◆ getState() [2/5]

SceneState tesseract_scene_graph::KDLStateSolver::getState	(	const Eigen::Ref< const Eigen::VectorXd > &	joint_values,
		const tesseract_common::TransformMap &	floating_joint_values = `{}`
	)		const

finaloverridevirtual

Get the state of the solver given the joint values.

This must be the same size and order as what is returned by getJointNames

Parameters

joint_values	The joint values
floating_joint_values	The floating joint origin transform

Implements tesseract_scene_graph::StateSolver.

Definition at line 120 of file kdl_state_solver.cpp.

◆ getState() [3/5]

SceneState tesseract_scene_graph::KDLStateSolver::getState	(	const std::unordered_map< std::string, double > &	joint_values,
		const tesseract_common::TransformMap &	floating_joint_values = `{}`
	)		const

finaloverridevirtual

Get the state of the scene for a given set or subset of joint values.

This does not change the internal state of the solver.

Parameters

joints	A map of joint names to joint values to change.
floating_joint_values	The floating joint origin transform

Returns: A the state of the environment

Implements tesseract_scene_graph::StateSolver.

Definition at line 138 of file kdl_state_solver.cpp.

◆ getState() [4/5]

SceneState tesseract_scene_graph::KDLStateSolver::getState	(	const std::vector< std::string > &	joint_names,
		const Eigen::Ref< const Eigen::VectorXd > &	joint_values,
		const tesseract_common::TransformMap &	floating_joint_values = `{}`
	)		const

finaloverridevirtual

Implements tesseract_scene_graph::StateSolver.

Definition at line 156 of file kdl_state_solver.cpp.

◆ getState() [5/5]

SceneState tesseract_scene_graph::KDLStateSolver::getState ( const tesseract_common::TransformMap & floating_joint_values ) const

finaloverridevirtual

Get the state given floating joint values.

Parameters

floating_joint_values The floating joint values to leverage

Returns: A the state of the environment

Implements tesseract_scene_graph::StateSolver.

Definition at line 175 of file kdl_state_solver.cpp.

◆ getStaticLinkNames()

std::vector< std::string > tesseract_scene_graph::KDLStateSolver::getStaticLinkNames ( ) const

finaloverridevirtual

Get a vector of static link names in the environment.

Returns: A vector of static link names

Implements tesseract_scene_graph::StateSolver.

Definition at line 238 of file kdl_state_solver.cpp.

◆ hasLinkName()

bool tesseract_scene_graph::KDLStateSolver::hasLinkName ( const std::string & link_name ) const

finaloverridevirtual

Check if link name exists.

Parameters

link_name The link name to check for

Returns: True if it exists, otherwise false

Implements tesseract_scene_graph::StateSolver.

Definition at line 246 of file kdl_state_solver.cpp.

◆ isActiveLinkName()

bool tesseract_scene_graph::KDLStateSolver::isActiveLinkName ( const std::string & link_name ) const

finaloverridevirtual

Check if link is an active link.

Parameters

link_name The link name to check

Returns: True if active, otherwise false

Implements tesseract_scene_graph::StateSolver.

Definition at line 240 of file kdl_state_solver.cpp.

◆ operator=() [1/2]

KDLStateSolver & tesseract_scene_graph::KDLStateSolver::operator= ( const KDLStateSolver & other )

Definition at line 64 of file kdl_state_solver.cpp.

◆ operator=() [2/2]

KDLStateSolver& tesseract_scene_graph::KDLStateSolver::operator= ( KDLStateSolver && )

delete

◆ processKDLData()

bool tesseract_scene_graph::KDLStateSolver::processKDLData ( const tesseract_scene_graph::SceneGraph & scene_graph )

private

Definition at line 274 of file kdl_state_solver.cpp.

◆ setJointValuesHelper()

bool tesseract_scene_graph::KDLStateSolver::setJointValuesHelper	(	KDL::JntArray &	q,
		const std::string &	joint_name,
		const double &	joint_value
	)		const

private

Definition at line 319 of file kdl_state_solver.cpp.

◆ setState() [1/4]

void tesseract_scene_graph::KDLStateSolver::setState	(	const Eigen::Ref< const Eigen::VectorXd > &	joint_values,
		const tesseract_common::TransformMap &	floating_joint_values = `{}`
	)

finaloverridevirtual

Set the current state of the solver.

This must be the same size and order as what is returned by getJointNames

Parameters

joint_values The joint values

Implements tesseract_scene_graph::StateSolver.

Definition at line 76 of file kdl_state_solver.cpp.

◆ setState() [2/4]

void tesseract_scene_graph::KDLStateSolver::setState	(	const std::unordered_map< std::string, double > &	joint_values,
		const tesseract_common::TransformMap &	floating_joint_values = `{}`
	)

finaloverridevirtual

Set the current state of the solver.

After updating the current state these function must call currentStateChanged() which will update the contact managers transforms

Implements tesseract_scene_graph::StateSolver.

Definition at line 89 of file kdl_state_solver.cpp.

◆ setState() [3/4]

void tesseract_scene_graph::KDLStateSolver::setState	(	const std::vector< std::string > &	joint_names,
		const Eigen::Ref< const Eigen::VectorXd > &	joint_values,
		const tesseract_common::TransformMap &	floating_joint_values = `{}`
	)

finaloverridevirtual

Implements tesseract_scene_graph::StateSolver.

Definition at line 101 of file kdl_state_solver.cpp.

◆ setState() [4/4]

void tesseract_scene_graph::KDLStateSolver::setState ( const tesseract_common::TransformMap & floating_joint_values )

finaloverridevirtual

Set the current state of the floating joint values.

Parameters

floating_joint_values The floating joint values to set

Implements tesseract_scene_graph::StateSolver.

Definition at line 115 of file kdl_state_solver.cpp.

Member Data Documentation

◆ current_state_

SceneState tesseract_scene_graph::KDLStateSolver::current_state_

private

Current state of the environment

Definition at line 124 of file kdl_state_solver.h.

◆ data_

KDLTreeData tesseract_scene_graph::KDLStateSolver::data_

private

KDL tree data

Definition at line 125 of file kdl_state_solver.h.

◆ jac_solver_

std::unique_ptr<KDL::TreeJntToJacSolver> tesseract_scene_graph::KDLStateSolver::jac_solver_

private

KDL Jacobian Solver

Definition at line 126 of file kdl_state_solver.h.

◆ joint_qnr_

std::vector<int> tesseract_scene_graph::KDLStateSolver::joint_qnr_

private

The kdl segment number corresponding to joint in joint names

Definition at line 128 of file kdl_state_solver.h.

◆ joint_to_qnr_

std::unordered_map<std::string, unsigned int> tesseract_scene_graph::KDLStateSolver::joint_to_qnr_

private

Map between joint name and kdl q index

Definition at line 127 of file kdl_state_solver.h.

◆ kdl_jnt_array_

KDL::JntArray tesseract_scene_graph::KDLStateSolver::kdl_jnt_array_

private

The kdl joint array

Definition at line 129 of file kdl_state_solver.h.

◆ limits_

tesseract_common::KinematicLimits tesseract_scene_graph::KDLStateSolver::limits_

private

The kinematic limits

Definition at line 130 of file kdl_state_solver.h.

◆ mutex_

std::mutex tesseract_scene_graph::KDLStateSolver::mutex_

mutableprivate

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

Definition at line 131 of file kdl_state_solver.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

◆ KDLStateSolver() [1/4]

◆ KDLStateSolver() [2/4]

◆ ~KDLStateSolver()

◆ KDLStateSolver() [3/4]

◆ KDLStateSolver() [4/4]

Member Function Documentation

◆ calcJacobianHelper()

◆ calculateTransforms()

◆ calculateTransformsHelper()

◆ clone()

◆ getActiveJointNames()

◆ getActiveLinkNames()

◆ getBaseLinkName()

◆ getFloatingJointNames()

◆ getJacobian() [1/3]

◆ getJacobian() [2/3]

◆ getJacobian() [3/3]

◆ getJointNames()

◆ getKDLJntArray() [1/2]

◆ getKDLJntArray() [2/2]

◆ getLimits()

◆ getLinkNames()

◆ getLinkTransform()

◆ getLinkTransforms()

◆ getRandomState()

◆ getRelativeLinkTransform()

◆ getState() [1/5]

◆ getState() [2/5]

◆ getState() [3/5]

◆ getState() [4/5]

◆ getState() [5/5]

◆ getStaticLinkNames()

◆ hasLinkName()

◆ isActiveLinkName()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ processKDLData()

◆ setJointValuesHelper()

◆ setState() [1/4]

◆ setState() [2/4]

◆ setState() [3/4]

◆ setState() [4/4]

Member Data Documentation

◆ current_state_

◆ data_

◆ jac_solver_

◆ joint_qnr_

◆ joint_to_qnr_

◆ kdl_jnt_array_

◆ limits_

◆ mutex_