KinematicKDL.hpp File Reference

#include <assert.h>
#include <sstream>
#include <string>
#include <base/Time.hpp>
#include <base/Eigen.hpp>
#include <base-logging/Logging.hpp>
#include <Eigen/Core>
#include <kdl_parser/kdl_parser.hpp>
#include <kdl/frames_io.hpp>
#include <kdl/treefksolver.hpp>
#include <kdl/treefksolverpos_recursive.hpp>
#include <kdl/chainjnttojacsolver.hpp>
#include <kdl/treejnttojacsolver.hpp>

Go to the source code of this file.

Classes
class	threed_odometry::KinematicKDL

Namespaces
	threed_odometry

Detailed Description

This class has the primitive methods for the Forward kinematics and Wheel Jacobian. First computes the forward kinematics in order to have afterwards the wheel Jacobians using KDL.

It reads a URDF file to create KDL Chains using the kdl_parse.

Author

Javier Hidalgo Carrio | DFKI RIC Bremen | javie.nosp@m.r.hi.nosp@m.dalgo.nosp@m._car.nosp@m.rio@d.nosp@m.fki..nosp@m.de

Date

December 2014.

Version

1.0.