A representation of a robot (in this case, a kinematic tree in the plane). More...

#include <robot.h>

Classes
class	FrameData
	All associated data with a frame in a kinematic tree. More...

class	FrameDataConstPtr
	A const shared pointer wrapper for se2ez::Robot::FrameData. More...

class	FrameDataPtr
	A shared pointer wrapper for se2ez::Robot::FrameData. More...

Public Member Functions
Constructors
	Robot ()
	Constructor. Nothing interesting right now. More...

	Robot (const Robot &)=delete

	Robot (Robot &&)=delete

Getters and Setters
unsigned int	getNumJoints () const
	Gets the number of controllable joints within the tree. More...

const std::vector< std::string > &	getEEs () const
	Gets the names of end-effectors of the tree (leaf nodes). More...

const std::vector< std::string > &	getFrameNames () const
	Get a vector of all the frame names within this robot. More...

FramePtr	getFrame (const std::string &name)
	Get the frame with name name. More...

FramePtr	getFrameParent (const std::string &name)
	Get the parent of frame with name name. Throws Error if name is root. More...

const FramePtr &	getFrameConst (const std::string &name) const
	Get the frame with name name. More...

bool	inTree (const std::string &name) const
	Checks if a frame name is in the tree. More...

const FrameDataPtr &	getFrameDataConst (const std::string &frame_name) const
	Retrieves kinematic tree data associated with the frame frame_name. More...

const std::string &	getSignature ()
	Returns the signature of the robot. More...

void	setNamedState (const std::string &name, const StatePtr &state)
	Sets a named state. More...

void	setNamedStates (const std::map< std::string, StatePtr > &named)
	Sets a named state. More...

void	getNamedState (const std::string &name, StatePtr state)
	Gets a named state. More...

std::vector< std::string >	getNamedStates () const
	Gets the names of all named states. More...

const std::map< std::string, StatePtr > &	getNamedStatesMap ()
	Gets the names of all named states. More...

ACMPtr	getACM ()
	Gets the robot's default ACM. More...

void	setACM (const ACMPtr &acm)
	Sets the robot's default ACM. More...

const Eigen::VectorXd	getUpperLimits () const
	Get the upper limits of the joints for this robot. More...

const Eigen::VectorXd	getLowerLimits () const
	Get the lower limits of the joints for this robot. More...

const std::vector< bool >	getContinuity () const
	Returns a vector of booleans. If an entry is true, that index is a continuous joint. More...

const std::vector< std::pair< std::string, FrameDataPtr > > &	getJoints () const
	Get the ordered list of active joints in this robot with their associated frame information. More...

const KDL::Tree &	getTree () const
	Get the underlying KDL tree for this robot. More...

Private Member Functions
Getters / Setters
FrameDataPtr	getFrameData (const std::string &frame_name)
	Retrieves kinematic tree data associated with the frame frame_name. More...

Private Attributes
std::map< std::string, FrameDataPtr >	data_
	Kinematic tree data for all frames. More...

std::vector< std::string >	ees_
	End-effectors (leaves) in the kinematic tree that are mobile. More...

std::vector< std::string >	names_
	Names of the the kinematic tree frames (ordered). More...

std::vector< std::pair< std::string, FrameDataPtr > >	joints_
	Ordered vector of active joints. More...

Eigen::VectorXd	upper_
	Upper limits of joints. More...

Eigen::VectorXd	lower_
	Lower limits of joints. More...

unsigned int	maxDepth_
	Maximum tree depth. More...

KDL::Tree	tree_
	Underlying tree representation. More...

std::shared_ptr< KDL::TreeJntToJacSolver >	jac_ {nullptr}
	Underlying tree representation. More...

bool	tree_update_ {true}
	Does the tree need recompiling? More...

std::map< std::string, StatePtr >	named_
	Named states. More...

std::string	signature_
	A string that represents the current kinematic chain. More...

ACMPtr	acm_
	Default robot ACM. More...

FrameMapPtr	static_ {nullptr}
	Transforms for all non-movable links. More...

Frame / Kinematic Tree Management
void	attachFrame (const FramePtr &frame)
	Attach a frame to the root of the kinematic tree. Will detach frame if attached elsewhere already. More...

void	attachFrame (const FramePtr &frame, const FramePtr &parent)
	Attach a frame to another frame in the kinematic tree. Will detach frame if attached elsewhere already. More...

void	attachFrame (const FramePtr &frame, const std::string &parent_name)
	Attach a frame to another frame in the kinematic tree. Will detach frame if attached elsewhere already. More...

void	detachFrame (const FramePtr &frame)
	Detach a frame from a kinematic tree. If frame has children all children will be detached as well. More...

void	detachFrame (const std::string &frame_name)
	Detach a frame from a kinematic tree. If frame has children all children will be detached as well. More...

void	addFixedRobot (const RobotPtr &frobot, const StatePtr &state, const std::string &scene_name)
	add a fixed Robot(frames with all joints fixed) on the current robot. The frame names are namespaced under the scene_name. More...

void	addActiveRobot (const RobotPtr &arobot)
	adds an active Robot with all its frames and corresponding joints. More...

void	compileTree ()
	Compiles the underlying kinematic tree representation after a call to attachFrame(). More...

void	clear ()
	Completely clears internal structures, a brand new robot! More...

void	removeChild (FrameDataPtr parent, const std::string &child)
	Removes child from the parent in the tree. More...

void	updateFrame (const FramePtr &frame, const std::string &parent_name)
	Updates a frame's entry in the kinematic tree with a possibly new parent parent_name. More...

void	compileTreeRecursive (const std::string &previous, FrameDataPtr &data, bool movable=false)
	Helper function to compileTree() that recursively build tree representation. More...

void	staticFK ()
	Compute the transform for all non-movable frames. More...

void	generateSignature ()
	Creates a unique signature (based on active joints). More...

Pose / Configuration Management
void	fk (const Eigen::Ref< const Eigen::VectorXd > &q, FrameMapPtr frames) const
	Compute the forward kinematics of the robot at a state q. More...

const FrameMap::Value &	getPose (const std::string &frame_name, const Eigen::Ref< const Eigen::VectorXd > &q, FrameMapPtr frames) const
	Gets the pose of a frame frame_name at a configuration q. Also updates all dependent frames in frames. More...

const FrameMap::Value &	getJacobian (const std::string &frame_name, const Eigen::Ref< const Eigen::VectorXd > &q, FrameMapPtr frames) const
	Gets the jacobian for frame_name at configuration q. More...

Eigen::Ref< Eigen::VectorXd >	getFrameValues (const std::string &frame_name, Eigen::Ref< Eigen::VectorXd > q) const
	Returns a reference to the underlying subvector of the configuration associated with a specific frame. More...

const Eigen::Ref< const Eigen::VectorXd >	getFrameValuesConst (const std::string &frame_name, const Eigen::Ref< const Eigen::VectorXd > &q) const
	Returns a reference to the underlying subvector of the configuration associated with a specific frame. More...

double	distance (const StatePtr &a, const StatePtr &b, bool weighted=true) const
	Compute the distance between two states. More...

void	enforceLimits (StatePtr a) const
	Enforce joint limits on a robot and renormalize angles if necessary. More...

bool	inLimits (const StatePtr &a) const
	Check if all configuration parameters are within limits. More...

void	interpolate (const StatePtr &from, const StatePtr &to, double t, StatePtr state) const
	Interpolate between two states. More...

const FrameMap::Value &	getPose (const FrameDataPtr &data, const Eigen::Ref< const Eigen::VectorXd > &q, FrameMapPtr frames) const
	Gets the pose of a frame data at a configuration q. Also updates all dependent frames in frames. More...

Informative
using	PrintHelper = std::function< std::string(const FrameDataPtr &)>
	Function used by Robot::printTree() to print additional information about frames. More...

std::string	printTree (const PrintHelper &function={}) const
	Returns a string that graphically shows the kinematic structure of the tree. For example: More...

std::string	printDebug () const
	Returns a string of complete robot information for debugging purposes. More...

void	printTreeRecursive (std::stringstream &ss, const FrameDataPtr &frame, const PrintHelper &function, const std::string &prefix="") const
	Helper function to printTree() that recursively traverses the kinematic tree. More...

Detailed Description

A representation of a robot (in this case, a kinematic tree in the plane).

Definition at line 119 of file robot.h.

Member Typedef Documentation

◆ PrintHelper

using se2ez::Robot::PrintHelper = std::function<std::string(const FrameDataPtr &)>

Function used by Robot::printTree() to print additional information about frames.

Definition at line 459 of file robot.h.

Constructor & Destructor Documentation

◆ Robot() [1/3]

Robot::Robot ( )

Constructor. Nothing interesting right now.

Robot

Definition at line 106 of file robot.cpp.

◆ Robot() [2/3]

se2ez::Robot::Robot ( const Robot & )

delete

◆ Robot() [3/3]

se2ez::Robot::Robot ( Robot && )

delete

Member Function Documentation

◆ addActiveRobot()

void Robot::addActiveRobot ( const RobotPtr & arobot )

adds an active Robot with all its frames and corresponding joints.

Parameters

[in] arobot Robot to add as the active one.

Definition at line 188 of file robot.cpp.

◆ addFixedRobot()

void Robot::addFixedRobot	(	const RobotPtr &	frobot,
		const StatePtr &	state,
		const std::string &	scene_name
	)

add a fixed Robot(frames with all joints fixed) on the current robot. The frame names are namespaced under the scene_name.

Parameters

[in]	frobot	Robot to add as a fixed scene.
[in]	state	State of the attached Scene;
[in]	scene_name	std::string name of the attached scene

Definition at line 173 of file robot.cpp.

◆ attachFrame() [1/3]

void Robot::attachFrame ( const FramePtr & frame )

Attach a frame to the root of the kinematic tree. Will detach frame if attached elsewhere already.

Parameters

[in] frame Frame to attach.

Frame / Kinematic Tree Updating

Definition at line 124 of file robot.cpp.

◆ attachFrame() [2/3]

void Robot::attachFrame	(	const FramePtr &	frame,
		const FramePtr &	parent
	)

Attach a frame to another frame in the kinematic tree. Will detach frame if attached elsewhere already.

Parameters

[in]	frame	Frame to attach.
[in]	parent	Parent to attach frame to (must be in tree already).

Definition at line 129 of file robot.cpp.

◆ attachFrame() [3/3]

void Robot::attachFrame	(	const FramePtr &	frame,
		const std::string &	parent_name
	)

Attach a frame to another frame in the kinematic tree. Will detach frame if attached elsewhere already.

Parameters

[in]	frame	Frame to attach.
[in]	parent_name	Name of parent to attach frame to.

Definition at line 133 of file robot.cpp.

◆ clear()

void Robot::clear ( )

Completely clears internal structures, a brand new robot!

Definition at line 111 of file robot.cpp.

◆ compileTree()

void Robot::compileTree ( )

Compiles the underlying kinematic tree representation after a call to attachFrame().

Definition at line 253 of file robot.cpp.

◆ compileTreeRecursive()

void Robot::compileTreeRecursive	(	const std::string &	previous,
		FrameDataPtr &	data,
		bool	movable = `false`
	)

private

Helper function to compileTree() that recursively build tree representation.

Parameters

[in]	previous	Previous frame in the kinematic tree.
[in]	data	Frame to add to the tree.
[in]	movable	Was there a movable joint before this frame?

Definition at line 296 of file robot.cpp.

◆ detachFrame() [1/2]

void Robot::detachFrame ( const FramePtr & frame )

Detach a frame from a kinematic tree. If frame has children all children will be detached as well.

Parameters

[in] frame Frame to detach

Definition at line 144 of file robot.cpp.

◆ detachFrame() [2/2]

void Robot::detachFrame ( const std::string & frame_name )

Detach a frame from a kinematic tree. If frame has children all children will be detached as well.

Parameters

[in] frame_name Frame name to detach.

Definition at line 149 of file robot.cpp.

◆ distance()

double Robot::distance	(	const StatePtr &	a,
		const StatePtr &	b,
		bool	weighted = `true`
	)		const

Compute the distance between two states.

Parameters

[in]	a	One state.
[in]	b	Other state.
[in]	weighted	Weight distance by inverse of depth of frame in tree.

Returns: The distance between a and b.

Definition at line 596 of file robot.cpp.

◆ enforceLimits()

void Robot::enforceLimits ( StatePtr a ) const

Enforce joint limits on a robot and renormalize angles if necessary.

Parameters

[in,out] a State to enforce limits on.

Definition at line 615 of file robot.cpp.

◆ fk()

void Robot::fk	(	const Eigen::Ref< const Eigen::VectorXd > &	q,
		FrameMapPtr	frames
	)		const

Compute the forward kinematics of the robot at a state q.

Parameters

[in]	q	Configuration of the robot.
[out]	frames	Forward kinematics.

Definition at line 534 of file robot.cpp.

◆ generateSignature()

void Robot::generateSignature ( )

private

Creates a unique signature (based on active joints).

Returns: the robot signature

Definition at line 347 of file robot.cpp.

◆ getACM()

ACMPtr Robot::getACM ( )

Gets the robot's default ACM.

Returns: The robot's ACM.

Definition at line 468 of file robot.cpp.

◆ getContinuity()

const std::vector< bool > Robot::getContinuity ( ) const

Returns a vector of booleans. If an entry is true, that index is a continuous joint.

Returns: Continuity of joints.

Definition at line 488 of file robot.cpp.

◆ getEEs()

const std::vector< std::string > & Robot::getEEs ( ) const

Gets the names of end-effectors of the tree (leaf nodes).

Returns: Vector of all end-effectors in the tree.

Definition at line 370 of file robot.cpp.

◆ getFrame()

FramePtr Robot::getFrame ( const std::string & name )

Get the frame with name name.

Parameters

[in] name Name of the frame to get.

Returns: Frame information.

Definition at line 380 of file robot.cpp.

◆ getFrameConst()

const FramePtr & Robot::getFrameConst ( const std::string & name ) const

Get the frame with name name.

Parameters

[in] name Name of the frame to get.

Returns: Frame information.

Definition at line 393 of file robot.cpp.

◆ getFrameData()

Robot::FrameDataPtr Robot::getFrameData ( const std::string & frame_name )

private

Retrieves kinematic tree data associated with the frame frame_name.

Parameters

[in] frame_name Name of frame to get data for.

Returns: The frame data of the frame. Throws exception if frame does not exist.

Definition at line 403 of file robot.cpp.

◆ getFrameDataConst()

const Robot::FrameDataPtr & Robot::getFrameDataConst ( const std::string & frame_name ) const

Retrieves kinematic tree data associated with the frame frame_name.

Parameters

[in] frame_name Name of frame to get data for.

Returns: The frame data of the frame.

Exceptions

Exception if frame does not exist.

Definition at line 412 of file robot.cpp.

◆ getFrameNames()

const std::vector< std::string > & Robot::getFrameNames ( ) const

Get a vector of all the frame names within this robot.

Returns: A vector of all frame names.

Definition at line 375 of file robot.cpp.

◆ getFrameParent()

FramePtr Robot::getFrameParent ( const std::string & name )

Get the parent of frame with name name. Throws Error if name is root.

Parameters

[in] name Name of the frame to get.

Returns: Frame information.

Definition at line 385 of file robot.cpp.

◆ getFrameValues()

Eigen::Ref< Eigen::VectorXd > Robot::getFrameValues	(	const std::string &	frame_name,
		Eigen::Ref< Eigen::VectorXd >	q
	)		const

Returns a reference to the underlying subvector of the configuration associated with a specific frame.

Parameters

[in]	frame_name	Name of frame to get component of configuration for.
[in]	q	Configuration to extract component from.

Returns: Reference to subvector within configuration associated with a frame's joint values.

Pose / Configuration Management

Definition at line 522 of file robot.cpp.

◆ getFrameValuesConst()

const Eigen::Ref< const Eigen::VectorXd > Robot::getFrameValuesConst	(	const std::string &	frame_name,
		const Eigen::Ref< const Eigen::VectorXd > &	q
	)		const

Returns a reference to the underlying subvector of the configuration associated with a specific frame.

Parameters

[in]	frame_name	Name of frame to get component of configuration for.
[in]	q	Configuration to extract component from.

Returns: Reference to subvector within configuration associated with a frame's joint values.

Definition at line 529 of file robot.cpp.

◆ getJacobian()

const FrameMap::Value & Robot::getJacobian	(	const std::string &	frame_name,
		const Eigen::Ref< const Eigen::VectorXd > &	q,
		FrameMapPtr	frames
	)		const

Gets the jacobian for frame_name at configuration q.

Parameters

[in]	frame_name	Name of frame to get jacobian for.
[in]	q	Configuration of robot to compute jacobian for.
[in]	frames	Workspace for computing jacobian.

Definition at line 574 of file robot.cpp.

◆ getJoints()

const std::vector< std::pair< std::string, Robot::FrameDataPtr > > & Robot::getJoints ( ) const

Get the ordered list of active joints in this robot with their associated frame information.

Returns: The ordered list of active joints.

Definition at line 508 of file robot.cpp.

◆ getLowerLimits()

const Eigen::VectorXd Robot::getLowerLimits ( ) const

Get the lower limits of the joints for this robot.

Returns: The lower limits of the robot.

Definition at line 483 of file robot.cpp.

◆ getNamedState()

void Robot::getNamedState	(	const std::string &	name,
		StatePtr	state
	)

Gets a named state.

Parameters

[in]	name	Name of state to get.
[out]	state	State to fill with named state.

Definition at line 439 of file robot.cpp.

◆ getNamedStates()

std::vector< std::string > Robot::getNamedStates ( ) const

Gets the names of all named states.

Returns: List of state names.

Definition at line 448 of file robot.cpp.

◆ getNamedStatesMap()

const std::map< std::string, StatePtr > & Robot::getNamedStatesMap ( )

Gets the names of all named states.

Returns: map of state names.

Definition at line 457 of file robot.cpp.

◆ getNumJoints()

unsigned int Robot::getNumJoints ( ) const

Gets the number of controllable joints within the tree.

Getters and Setters

Definition at line 365 of file robot.cpp.

◆ getPose() [1/2]

const FrameMap::Value & Robot::getPose	(	const std::string &	frame_name,
		const Eigen::Ref< const Eigen::VectorXd > &	q,
		FrameMapPtr	frames
	)		const

Gets the pose of a frame frame_name at a configuration q. Also updates all dependent frames in frames.

Parameters

[in]	frame_name	Name of frame to get pose for.
[in]	q	Configuration of robot to compute pose for.
[in]	frames	Workspace for computing frames. Respects dirty frame information.

Returns: Current pose of the frame.

Definition at line 542 of file robot.cpp.

◆ getPose() [2/2]

const FrameMap::Value & Robot::getPose	(	const FrameDataPtr &	data,
		const Eigen::Ref< const Eigen::VectorXd > &	q,
		FrameMapPtr	frames
	)		const

private

Gets the pose of a frame data at a configuration q. Also updates all dependent frames in frames.

Parameters

[in]	data	Frame data to get pose for.
[in]	q	Configuration of robot to compute pose for.
[in]	frames	Workspace for computing frames. Respects dirty frame information.

Returns: Current pose of the frame.

Definition at line 549 of file robot.cpp.

◆ getSignature()

const std::string & Robot::getSignature ( )

Returns the signature of the robot.

Returns: the robot signature

Definition at line 421 of file robot.cpp.

◆ getTree()

const KDL::Tree & Robot::getTree ( ) const

Get the underlying KDL tree for this robot.

Returns: The KDL tree.

Definition at line 513 of file robot.cpp.

◆ getUpperLimits()

const Eigen::VectorXd Robot::getUpperLimits ( ) const

Get the upper limits of the joints for this robot.

Returns: The upper limits of the robot.

Definition at line 478 of file robot.cpp.

◆ inLimits()

bool Robot::inLimits ( const StatePtr & a ) const

Check if all configuration parameters are within limits.

Parameters

[in] a State to check.

Returns: True if within limits, false otherwise.

Definition at line 628 of file robot.cpp.

◆ interpolate()

void Robot::interpolate	(	const StatePtr &	from,
		const StatePtr &	to,
		double	t,
		StatePtr	state
	)		const

Interpolate between two states.

Parameters

[in]	from	State you are interpolating from.
[in]	to	State you are interpolating to.
[in]	t	Interpolation parameter in [0, 1]. 0 is from, 1 is to.
[out]	state	Interpolated state.

Definition at line 642 of file robot.cpp.

◆ inTree()

bool Robot::inTree ( const std::string & name ) const

Checks if a frame name is in the tree.

Parameters

[in] name Frame to check.

Returns: True if frame is in tree, false otherwise.

Definition at line 398 of file robot.cpp.

◆ printDebug()

std::string Robot::printDebug ( ) const

Returns a string of complete robot information for debugging purposes.

Returns: A string of tree information.

Informative

Definition at line 660 of file robot.cpp.

◆ printTree()

std::string Robot::printTree ( const PrintHelper & function = {} ) const

Returns a string that graphically shows the kinematic structure of the tree. For example:

* \_ root (output of function goes here)
*  \_ base
*   \_ link_1
*    \_ link_2
*    |\_ link_3
*    | \_ e2
*    \_ e1
*

Parameters

[in] function A function to be called for each frame, with output attached at end of tree.

Returns: A string that represents the tree.

Definition at line 687 of file robot.cpp.

◆ printTreeRecursive()

void Robot::printTreeRecursive	(	std::stringstream &	ss,
		const FrameDataPtr &	frame,
		const PrintHelper &	function,
		const std::string &	prefix = `""`
	)		const

private

Helper function to printTree() that recursively traverses the kinematic tree.

Parameters

[in]	ss	Stream to output data to.
[in]	frame	Frame to output data about.
[in]	function	User provided function to call for each frame.
[in]	prefix	Prefix to attach to frame output.

Definition at line 694 of file robot.cpp.

◆ removeChild()

void Robot::removeChild	(	FrameDataPtr	parent,
		const std::string &	child
	)

private

Removes child from the parent in the tree.

Parameters

[in]	parent	Parent to remove child from.
[in]	child	Name of child to remove.

Exceptions

Exception if child is not a child of parent.

Definition at line 211 of file robot.cpp.

◆ setACM()

void Robot::setACM ( const ACMPtr & acm )

Sets the robot's default ACM.

Parameters

[in] acm The ACM to set.

Definition at line 473 of file robot.cpp.

◆ setNamedState()

void Robot::setNamedState	(	const std::string &	name,
		const StatePtr &	state
	)

Sets a named state.

Parameters

[in]	name	Name of state to set.
[in]	state	State to set named state to.

Definition at line 426 of file robot.cpp.

◆ setNamedStates()

void Robot::setNamedStates ( const std::map< std::string, StatePtr > & named )

Sets a named state.

Parameters

[in] named Map of named states.

Definition at line 462 of file robot.cpp.

◆ staticFK()

void Robot::staticFK ( )

private

Compute the transform for all non-movable frames.

Definition at line 333 of file robot.cpp.

◆ updateFrame()

void Robot::updateFrame	(	const FramePtr &	frame,
		const std::string &	parent_name
	)

private

Updates a frame's entry in the kinematic tree with a possibly new parent parent_name.

Parameters

[in]	frame	Frame to update (will also add frame if new).
[in]	parent_name	Name of parent frame in kinematic tree.

Definition at line 224 of file robot.cpp.

Member Data Documentation

◆ acm_

ACMPtr se2ez::Robot::acm_

private

Default robot ACM.

Definition at line 575 of file robot.h.

◆ data_

std::map<std::string, FrameDataPtr> se2ez::Robot::data_

private

Kinematic tree data for all frames.

Definition at line 559 of file robot.h.

◆ ees_

std::vector<std::string> se2ez::Robot::ees_

private

End-effectors (leaves) in the kinematic tree that are mobile.

Definition at line 560 of file robot.h.

◆ jac_

std::shared_ptr<KDL::TreeJntToJacSolver> se2ez::Robot::jac_ {nullptr}

private

Underlying tree representation.

Definition at line 569 of file robot.h.

◆ joints_

std::vector<std::pair<std::string, FrameDataPtr> > se2ez::Robot::joints_

private

Ordered vector of active joints.

Definition at line 563 of file robot.h.

◆ lower_

Eigen::VectorXd se2ez::Robot::lower_

private

Lower limits of joints.

Definition at line 565 of file robot.h.

◆ maxDepth_

unsigned int se2ez::Robot::maxDepth_

private

Maximum tree depth.

Definition at line 566 of file robot.h.

◆ named_

std::map<std::string, StatePtr> se2ez::Robot::named_

private

Named states.

Definition at line 572 of file robot.h.

◆ names_

std::vector<std::string> se2ez::Robot::names_

private

Names of the the kinematic tree frames (ordered).

Definition at line 561 of file robot.h.

◆ signature_

std::string se2ez::Robot::signature_

private

A string that represents the current kinematic chain.

Definition at line 573 of file robot.h.

◆ static_

FrameMapPtr se2ez::Robot::static_ {nullptr}

private

Transforms for all non-movable links.

Definition at line 576 of file robot.h.

◆ tree_

KDL::Tree se2ez::Robot::tree_

private

Underlying tree representation.

Definition at line 568 of file robot.h.

◆ tree_update_

bool se2ez::Robot::tree_update_ {true}

private

Does the tree need recompiling?

Definition at line 570 of file robot.h.

◆ upper_

Eigen::VectorXd se2ez::Robot::upper_

private

Upper limits of joints.

Definition at line 564 of file robot.h.

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

/home/zak/code/se2ez_work/include/se2ez/core/robot.h
/home/zak/code/se2ez_work/src/core/robot.cpp

Classes

Public Member Functions

Private Member Functions

Private Attributes

Frame / Kinematic Tree Management

Pose / Configuration Management

Informative

Detailed Description

Member Typedef Documentation

◆ PrintHelper

Constructor & Destructor Documentation

◆ Robot() [1/3]

◆ Robot() [2/3]

◆ Robot() [3/3]

Member Function Documentation

◆ addActiveRobot()

◆ addFixedRobot()

◆ attachFrame() [1/3]

◆ attachFrame() [2/3]

◆ attachFrame() [3/3]

◆ clear()

◆ compileTree()

◆ compileTreeRecursive()

◆ detachFrame() [1/2]

◆ detachFrame() [2/2]

◆ distance()

◆ enforceLimits()

◆ fk()

◆ generateSignature()

◆ getACM()

◆ getContinuity()

◆ getEEs()

◆ getFrame()

◆ getFrameConst()

◆ getFrameData()

◆ getFrameDataConst()

◆ getFrameNames()

◆ getFrameParent()

◆ getFrameValues()

◆ getFrameValuesConst()

◆ getJacobian()

◆ getJoints()

◆ getLowerLimits()

◆ getNamedState()

◆ getNamedStates()

◆ getNamedStatesMap()

◆ getNumJoints()

◆ getPose() [1/2]

◆ getPose() [2/2]

◆ getSignature()

◆ getTree()

◆ getUpperLimits()

◆ inLimits()

◆ interpolate()

◆ inTree()

◆ printDebug()

◆ printTree()

◆ printTreeRecursive()

◆ removeChild()

◆ setACM()

◆ setNamedState()

◆ setNamedStates()

◆ staticFK()

◆ updateFrame()

Member Data Documentation

◆ acm_

◆ data_

◆ ees_

◆ jac_

◆ joints_

◆ lower_

◆ maxDepth_

◆ named_

◆ names_

◆ signature_

◆ static_

◆ tree_

◆ tree_update_

◆ upper_