exotica::KinematicElement Class Reference

#include <kinematic_element.h>

Collaboration diagram for exotica::KinematicElement:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	KinematicElement (int _id, std::shared_ptr< KinematicElement > _parent, const KDL::Segment &_segment)
	~KinematicElement ()
void	UpdateClosestRobotLink ()
KDL::Frame	GetPose (const double &x=0.0)
void	RemoveExpiredChildren ()

Public Attributes
int	id
int	control_id = -1
bool	is_controlled = false
std::weak_ptr< KinematicElement >	parent
std::string	parent_name
std::vector< std::weak_ptr< KinematicElement > >	children
std::weak_ptr< KinematicElement >	closest_robot_link = std::shared_ptr<KinematicElement>(nullptr)
KDL::Segment	segment = KDL::Segment()
KDL::Frame	frame = KDL::Frame::Identity()
KDL::Frame	generated_offset = KDL::Frame::Identity()
bool	is_trajectory_generated = false
std::vector< double >	joint_limits
double	velocity_limit = std::numeric_limits<double>::quiet_NaN()
double	acceleration_limit = std::numeric_limits<double>::quiet_NaN()
shapes::ShapeConstPtr	shape = nullptr
std::string	shape_resource_path = std::string()
Eigen::Vector3d	scale = Eigen::Vector3d::Ones()
bool	is_robot_link = false
Eigen::Vector4d	color = Eigen::Vector4d(0.5, 0.5, 0.5, 1.0)
std::vector< VisualElement >	visual

Private Member Functions
void	SetChildrenClosestRobotLink ()

Constructor & Destructor Documentation

KinematicElement()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW exotica::KinematicElement::KinematicElement ( int  _id, std::shared_ptr< KinematicElement >  _parent, const KDL::Segment &  _segment  )

inline

~KinematicElement()

exotica::KinematicElement::~KinematicElement ( )

inline

Member Function Documentation

GetPose()

KDL::Frame exotica::KinematicElement::GetPose ( const double &  x = 0.0 )

inline

RemoveExpiredChildren()

void exotica::KinematicElement::RemoveExpiredChildren ( )

inline

SetChildrenClosestRobotLink()

void exotica::KinematicElement::SetChildrenClosestRobotLink ( )

inlineprivate

UpdateClosestRobotLink()

void exotica::KinematicElement::UpdateClosestRobotLink ( )

inline

Member Data Documentation

acceleration_limit

double exotica::KinematicElement::acceleration_limit = std::numeric_limits<double>::quiet_NaN()

children

std::vector<std::weak_ptr<KinematicElement> > exotica::KinematicElement::children

closest_robot_link

std::weak_ptr<KinematicElement> exotica::KinematicElement::closest_robot_link = std::shared_ptr<KinematicElement>(nullptr)

color

Eigen::Vector4d exotica::KinematicElement::color = Eigen::Vector4d(0.5, 0.5, 0.5, 1.0)

control_id

int exotica::KinematicElement::control_id = -1

frame

KDL::Frame exotica::KinematicElement::frame = KDL::Frame::Identity()

generated_offset

KDL::Frame exotica::KinematicElement::generated_offset = KDL::Frame::Identity()

id

int exotica::KinematicElement::id

is_controlled

bool exotica::KinematicElement::is_controlled = false

is_robot_link

bool exotica::KinematicElement::is_robot_link = false

is_trajectory_generated

bool exotica::KinematicElement::is_trajectory_generated = false

joint_limits

std::vector<double> exotica::KinematicElement::joint_limits

parent

std::weak_ptr<KinematicElement> exotica::KinematicElement::parent

parent_name

std::string exotica::KinematicElement::parent_name

scale

Eigen::Vector3d exotica::KinematicElement::scale = Eigen::Vector3d::Ones()

segment

KDL::Segment exotica::KinematicElement::segment = KDL::Segment()

shape

shapes::ShapeConstPtr exotica::KinematicElement::shape = nullptr

shape_resource_path

std::string exotica::KinematicElement::shape_resource_path = std::string()

velocity_limit

double exotica::KinematicElement::velocity_limit = std::numeric_limits<double>::quiet_NaN()

visual

std::vector<VisualElement> exotica::KinematicElement::visual

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

• /tmp/exotica/exotica_core/include/exotica_core/kinematic_element.h