Inheritance diagram for kinematics_interface_kdl::KinematicsInterfaceKDL:

Collaboration diagram for kinematics_interface_kdl::KinematicsInterfaceKDL:

Public Member Functions
bool	initialize (const std::string &robot_description, std::shared_ptr< rclcpp::node_interfaces::NodeParametersInterface > parameters_interface, const std::string &param_namespace) override
	Initialize plugin. This method must be called before any other. More...

bool	convert_cartesian_deltas_to_joint_deltas (const Eigen::VectorXd &joint_pos, const Eigen::Matrix< double, 6, 1 > &delta_x, const std::string &link_name, Eigen::VectorXd &delta_theta) override
	Convert Cartesian delta-x to joint delta-theta, using the Jacobian. More...

bool	convert_joint_deltas_to_cartesian_deltas (const Eigen::VectorXd &joint_pos, const Eigen::VectorXd &delta_theta, const std::string &link_name, Eigen::Matrix< double, 6, 1 > &delta_x) override
	Convert joint delta-theta to Cartesian delta-x. More...

bool	calculate_link_transform (const Eigen::VectorXd &joint_pos, const std::string &link_name, Eigen::Isometry3d &transform) override
	Calculates the joint transform for a specified link using provided joint positions. More...

bool	calculate_jacobian (const Eigen::VectorXd &joint_pos, const std::string &link_name, Eigen::Matrix< double, 6, Eigen::Dynamic > &jacobian) override
	Calculates the jacobian for a specified link using provided joint positions. More...

bool	calculate_jacobian_inverse (const Eigen::VectorXd &joint_pos, const std::string &link_name, Eigen::Matrix< double, Eigen::Dynamic, 6 > &jacobian_inverse) override
	Calculates the jacobian inverse for a specified link using provided joint positions. More...

Public Member Functions inherited from kinematics_interface::KinematicsInterface
bool	convert_cartesian_deltas_to_joint_deltas (std::vector< double > &joint_pos_vec, const std::vector< double > &delta_x_vec, const std::string &link_name, std::vector< double > &delta_theta_vec)

bool	convert_joint_deltas_to_cartesian_deltas (const std::vector< double > &joint_pos_vec, const std::vector< double > &delta_theta_vec, const std::string &link_name, std::vector< double > &delta_x_vec)

bool	calculate_link_transform (const std::vector< double > &joint_pos_vec, const std::string &link_name, Eigen::Isometry3d &transform)

bool	calculate_jacobian (const std::vector< double > &joint_pos_vec, const std::string &link_name, Eigen::Matrix< double, 6, Eigen::Dynamic > &jacobian)

bool	calculate_jacobian_inverse (const std::vector< double > &joint_pos_vec, const std::string &link_name, Eigen::Matrix< double, Eigen::Dynamic, 6 > &jacobian_inverse)

Member Function Documentation

◆ calculate_jacobian()

bool kinematics_interface_kdl::KinematicsInterfaceKDL::calculate_jacobian	(	const Eigen::VectorXd &	joint_pos,
		const std::string &	link_name,
		Eigen::Matrix< double, 6, Eigen::Dynamic > &	jacobian
	)

overridevirtual

Calculates the jacobian for a specified link using provided joint positions.

Parameters

[in]	joint_pos	joint positions of the robot in radians
[in]	link_name	the name of the link to find the transform for
[out]	jacobian	Jacobian matrix of the specified link in column major format.

Returns: true if successful

Implements kinematics_interface::KinematicsInterface.

◆ calculate_jacobian_inverse()

bool kinematics_interface_kdl::KinematicsInterfaceKDL::calculate_jacobian_inverse	(	const Eigen::VectorXd &	joint_pos,
		const std::string &	link_name,
		Eigen::Matrix< double, Eigen::Dynamic, 6 > &	jacobian_inverse
	)

overridevirtual

Calculates the jacobian inverse for a specified link using provided joint positions.

Parameters

[in]	joint_pos	joint positions of the robot in radians
[in]	link_name	the name of the link to find the transform for
[out]	jacobian_inverse	Jacobian inverse matrix of the specified link in row major format.

Returns: true if successful

Implements kinematics_interface::KinematicsInterface.

◆ calculate_link_transform()

bool kinematics_interface_kdl::KinematicsInterfaceKDL::calculate_link_transform	(	const Eigen::VectorXd &	joint_pos,
		const std::string &	link_name,
		Eigen::Isometry3d &	transform
	)

overridevirtual

Calculates the joint transform for a specified link using provided joint positions.

Parameters

[in]	joint_pos	joint positions of the robot in radians
[in]	link_name	the name of the link to find the transform for
[out]	transform	transformation matrix of the specified link

Returns: true if successful

Implements kinematics_interface::KinematicsInterface.

◆ convert_cartesian_deltas_to_joint_deltas()

bool kinematics_interface_kdl::KinematicsInterfaceKDL::convert_cartesian_deltas_to_joint_deltas	(	const Eigen::VectorXd &	joint_pos,
		const Eigen::Matrix< double, 6, 1 > &	delta_x,
		const std::string &	link_name,
		Eigen::VectorXd &	delta_theta
	)

overridevirtual

Convert Cartesian delta-x to joint delta-theta, using the Jacobian.

Parameters

[in]	joint_pos	joint positions of the robot in radians
[in]	delta_x	input Cartesian deltas (x, y, z, wx, wy, wz)
[in]	link_name	the link name at which delta_x is applied
[out]	delta_theta	outputs joint deltas

Returns: true if successful

Implements kinematics_interface::KinematicsInterface.

◆ convert_joint_deltas_to_cartesian_deltas()

bool kinematics_interface_kdl::KinematicsInterfaceKDL::convert_joint_deltas_to_cartesian_deltas	(	const Eigen::VectorXd &	joint_pos,
		const Eigen::VectorXd &	delta_theta,
		const std::string &	link_name,
		Eigen::Matrix< double, 6, 1 > &	delta_x
	)

overridevirtual

Convert joint delta-theta to Cartesian delta-x.

Parameters

	joint_pos	joint positions of the robot in radians
[in]	delta_theta	joint deltas
[in]	link_name	the link name at which delta_x is calculated
[out]	delta_x	Cartesian deltas (x, y, z, wx, wy, wz)

Returns: true if successful

Implements kinematics_interface::KinematicsInterface.

◆ initialize()

bool kinematics_interface_kdl::KinematicsInterfaceKDL::initialize	(	const std::string &	robot_description,
		std::shared_ptr< rclcpp::node_interfaces::NodeParametersInterface >	parameters_interface,
		const std::string &	param_namespace
	)

overridevirtual

Initialize plugin. This method must be called before any other.

Parameters

[in]	robot_description	robot URDF in string format
[in]	parameters_interface
[in]	param_namespace	namespace for kinematics parameters - defaults to "kinematics"

Returns: true if successful

Implements kinematics_interface::KinematicsInterface.

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

kinematics_interface/kinematics_interface_kdl/include/kinematics_interface_kdl/kinematics_interface_kdl.hpp
kinematics_interface/kinematics_interface_kdl/src/kinematics_interface_kdl.cpp

Public Member Functions

Member Function Documentation

◆ calculate_jacobian()

◆ calculate_jacobian_inverse()

◆ calculate_link_transform()

◆ convert_cartesian_deltas_to_joint_deltas()

◆ convert_joint_deltas_to_cartesian_deltas()

◆ initialize()