#include <RobotFrames.hpp>

Public Member Functions
	TransformationCalculator ()

void	load_robot_model (std::string filepath, bool init_invalid=true)

bool	is_valid_joint_name (std::string j_name)

bool	is_valid_joint_type (const KDL::Joint &joint)

bool	is_valid_joint (const KDL::Joint &joint)

void	set_blacklist (const std::vector< std::string > &blacklist)

void	init_blacklist ()

void	clear_blacklist ()

void	add_to_blacklist (std::string j_name)

void	update (const base::samples::Joints &joints)

bool	get_all_transforms (std::vector< base::samples::RigidBodyState > &transforms, bool keep_content=false)

bool	get_transform_by_joint_name (const std::string &j_name, base::samples::RigidBodyState &transform)

bool	get_moving_joints_transforms (std::vector< base::samples::RigidBodyState > &transforms, bool keep_content=false)

bool	get_static_joints_transforms (std::vector< base::samples::RigidBodyState > &transforms, bool keep_content=false)

bool	knownJoint (const std::string &link_name)

void	output_only_valid (bool arg)

const KDL::TreeElement &	get_tree_element (const std::string &segment_name)

const KDL::Segment &	get_segment_by_segment_name (const std::string &segment_name)

const std::string &	get_segment_name_from_joint_name (const std::string &joint_name)

std::vector< std::string >	get_all_segment_names ()

std::vector< std::string >	get_static_segment_names ()

const std::vector< std::string > &	get_moving_joint_names ()

const std::vector< std::string > &	get_static_joint_names ()

const std::vector< std::string > &	get_all_joint_names ()

const KDL::Segment &	get_segment_by_joint (const KDL::Joint joint)

const std::string	get_parent_name_by_segment_name (std::string seg_name)

bool	is_fixed (const KDL::Joint &joint)

bool	is_fixed (const KDL::Segment &segment)

Protected Member Functions
void	clear_all ()

Protected Attributes
std::map< std::string, base::samples::RigidBodyState >	moving_joints_transforms_

std::map< std::string, base::samples::RigidBodyState >	static_joints_transforms_

std::vector< std::string >	moving_joint_names_

std::vector< std::string >	static_joint_names_

std::vector< std::string >	all_joint_names_

std::vector< std::string >	static_segment_names_

std::vector< std::string >	blacklist_

std::map< std::string, std::string >	joint_name2seg_name_

KDL::Tree	kdl_tree_

bool	is_initialized_

bool	output_only_valid_

Constructor & Destructor Documentation

robot_frames::TransformationCalculator::TransformationCalculator ( )

Member Function Documentation

void robot_frames::TransformationCalculator::add_to_blacklist ( std::string j_name )

void robot_frames::TransformationCalculator::clear_all ( )

inlineprotected

void robot_frames::TransformationCalculator::clear_blacklist ( )

const std::vector<std::string>& robot_frames::TransformationCalculator::get_all_joint_names ( )

inline

std::vector<std::string> robot_frames::TransformationCalculator::get_all_segment_names ( )

inline

bool robot_frames::TransformationCalculator::get_all_transforms	(	std::vector< base::samples::RigidBodyState > &	transforms,
		bool	keep_content = `false`
	)

Get transforms

Returns: true on success, false otherwise

const std::vector<std::string>& robot_frames::TransformationCalculator::get_moving_joint_names ( )

inline

bool robot_frames::TransformationCalculator::get_moving_joints_transforms	(	std::vector< base::samples::RigidBodyState > &	transforms,
		bool	keep_content = `false`
	)

const std::string robot_frames::TransformationCalculator::get_parent_name_by_segment_name ( std::string seg_name )

inline

const KDL::Segment& robot_frames::TransformationCalculator::get_segment_by_joint ( const KDL::Joint joint )

inline

const KDL::Segment& robot_frames::TransformationCalculator::get_segment_by_segment_name ( const std::string & segment_name )

inline

const std::string& robot_frames::TransformationCalculator::get_segment_name_from_joint_name ( const std::string & joint_name )

inline

const std::vector<std::string>& robot_frames::TransformationCalculator::get_static_joint_names ( )

inline

bool robot_frames::TransformationCalculator::get_static_joints_transforms	(	std::vector< base::samples::RigidBodyState > &	transforms,
		bool	keep_content = `false`
	)

std::vector<std::string> robot_frames::TransformationCalculator::get_static_segment_names ( )

inline

bool robot_frames::TransformationCalculator::get_transform_by_joint_name	(	const std::string &	j_name,
		base::samples::RigidBodyState &	transform
	)

const KDL::TreeElement& robot_frames::TransformationCalculator::get_tree_element ( const std::string & segment_name )

inline

Retrieve segment by name.

Exceptions

exception when segment is not known

Returns: reference to segment

void robot_frames::TransformationCalculator::init_blacklist ( )

bool robot_frames::TransformationCalculator::is_fixed ( const KDL::Joint & joint )

inline

Returns: true, when link provides a fixed transform. False when not.

bool robot_frames::TransformationCalculator::is_fixed ( const KDL::Segment & segment )

inline

bool robot_frames::TransformationCalculator::is_valid_joint ( const KDL::Joint & joint )

bool robot_frames::TransformationCalculator::is_valid_joint_name ( std::string j_name )

bool robot_frames::TransformationCalculator::is_valid_joint_type ( const KDL::Joint & joint )

bool robot_frames::TransformationCalculator::knownJoint ( const std::string & link_name )

Returns: true, when segment is known from robot model file, false when not.

void robot_frames::TransformationCalculator::load_robot_model	(	std::string	filepath,
		bool	init_invalid = `true`
	)

Load the model file. Throws exception if file not found or model could not be loaded

Parameters

filepath : Path to the robot model definition file

Returns: nothing

void robot_frames::TransformationCalculator::output_only_valid ( bool arg )

If set to true, only moving joint transformation, that have been set are returned by get_transform_by_joint_name.

void robot_frames::TransformationCalculator::set_blacklist ( const std::vector< std::string > & blacklist )

void robot_frames::TransformationCalculator::update ( const base::samples::Joints & joints )

Set state of all the joint of the robot, or just a subset of them. Calculate transforms for the given joints

Parameters

joints : Joint state to set.

Member Data Documentation

std::vector<std::string> robot_frames::TransformationCalculator::all_joint_names_

protected

std::vector<std::string> robot_frames::TransformationCalculator::blacklist_

protected

bool robot_frames::TransformationCalculator::is_initialized_

protected

std::map<std::string, std::string> robot_frames::TransformationCalculator::joint_name2seg_name_

protected

KDL::Tree robot_frames::TransformationCalculator::kdl_tree_

protected

std::vector<std::string> robot_frames::TransformationCalculator::moving_joint_names_

protected

std::map<std::string, base::samples::RigidBodyState> robot_frames::TransformationCalculator::moving_joints_transforms_

protected

bool robot_frames::TransformationCalculator::output_only_valid_

protected

std::vector<std::string> robot_frames::TransformationCalculator::static_joint_names_

protected

std::map<std::string, base::samples::RigidBodyState> robot_frames::TransformationCalculator::static_joints_transforms_

protected

std::vector<std::string> robot_frames::TransformationCalculator::static_segment_names_

protected

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

/build/rock-master-18.09-control-robot-frames-0.20170904/src/RobotFrames.hpp
/build/rock-master-18.09-control-robot-frames-0.20170904/src/RobotFrames.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation