threed_odometry::KinematicKDL Class Reference

#include <KinematicKDL.hpp>

Public Member Functions
	KinematicKDL (const std::string &urdf_file, const std::vector< std::string > &_contact_points, const std::vector< std::string > &contact_angles, const int _number_robot_joints, const int _number_slip_joints, const int _number_contact_joints)
	~KinematicKDL ()
std::string	getName ()
void	fkSolver (const std::vector< double > &positions, const std::vector< std::string > &tip_names, std::vector< Eigen::Affine3d > &fkTrans, std::vector< base::Matrix6d > &fkCov)
Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic >	jacobianSolver (const std::vector< std::string > &names, const std::vector< double > &positions)
void	unpackJoints (const std::vector< std::string > &joint_names, const std::vector< double > &joint_positions, const std::vector< std::string > &involved_joints, KDL::JntArray &joint_array)
void	organizeJacobian (const int chainidx, const std::vector< std::string > &joint_names, const std::vector< std::string > &involved_joints, const Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > &jacobian, Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > &J)

Public Attributes
unsigned int	model_dof

Protected Attributes
KDL::Tree	tree
std::string	model_name
std::vector< KDL::Chain >	ichains
std::vector< std::vector< std::string > >	ichains_joint_names
std::vector< std::string >	contact_point_segments
std::vector< std::string >	contact_angle_segments
int	number_robot_joints
int	number_slip_joints
int	number_contact_joints

Constructor & Destructor Documentation

KinematicKDL::KinematicKDL	(	const std::string &	urdf_file,
		const std::vector< std::string > &	_contact_points,
		const std::vector< std::string > &	contact_angles,
		const int	_number_robot_joints,
		const int	_number_slip_joints,
		const int	_number_contact_joints
	)

Complete robot model DoF

Read URDF file

Assign an information string name and complete model DoF

Resize vectors of chains

Get root link

Extract the chains in inverse order for the Motion Model Jacobian matrix

Extract the joint names for the chains in inverse order

KinematicKDL::~KinematicKDL

(

)

Member Function Documentation

void KinematicKDL::fkSolver	(	const std::vector< double > &	positions,
		const std::vector< std::string > &	tip_names,
		std::vector< Eigen::Affine3d > &	fkTrans,
		std::vector< base::Matrix6d > &	fkCov
	)

Check if the number of values is correct

Resize the vectors

Forward kinematic solver of the robot tree

Create joint array

Fill the Joint Array with the position values

Calculate the Forward Kinematics for all the chains of the robot

Create the frame that will contain the results

Calculate forward position kinematics

Store the solution in the arguments

No uncertainty provided

std::string KinematicKDL::getName

(

)

Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > KinematicKDL::jacobianSolver	(	const std::vector< std::string > &	names,
		const std::vector< double > &	positions
	)

Check if the number of values is correct

Get Forward Kinematics of all contact points

Calculate the Jacobian for all the inverse chains of the robot

Jacobian solver of the robot tree

Create joint array

Fill the Joint Array with the position values

Create KDL Jacobian

Solver for the Jacobian

Get the Jacobian in Eigen Matrix class

Jacobian of inverse chain with respect to the root frame (Multiple by FK Transformations)

void KinematicKDL::organizeJacobian	(	const int	chainidx,
		const std::vector< std::string > &	joint_names,
		const std::vector< std::string > &	involved_joints,
		const Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > &	jacobian,
		Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic > &	J
	)

void KinematicKDL::unpackJoints	(	const std::vector< std::string > &	joint_names,
		const std::vector< double > &	joint_positions,
		const std::vector< std::string > &	involved_joints,
		KDL::JntArray &	joint_array
	)

Member Data Documentation

std::vector<std::string> threed_odometry::KinematicKDL::contact_angle_segments

protected

Number and segment names of contact points

std::vector<std::string> threed_odometry::KinematicKDL::contact_point_segments

protected

Kinematics chains

std::vector<KDL::Chain> threed_odometry::KinematicKDL::ichains

protected

Name of the model class

std::vector< std::vector<std::string> > threed_odometry::KinematicKDL::ichains_joint_names

protected

Kinematics chains

unsigned int threed_odometry::KinematicKDL::model_dof

Number of joints per each type

std::string threed_odometry::KinematicKDL::model_name

protected

There are as many chains in the tree as number of contact points

int threed_odometry::KinematicKDL::number_contact_joints

protected

int threed_odometry::KinematicKDL::number_robot_joints

protected

Number and segment names of contact angles

int threed_odometry::KinematicKDL::number_slip_joints

protected

KDL::Tree threed_odometry::KinematicKDL::tree

protected

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

• /build/rock-master-18.09-slam-threed-odometry-0.20160909/src/KinematicKDL.hpp
• /build/rock-master-18.09-slam-threed-odometry-0.20160909/src/KinematicKDL.cpp