kdl_utils.h File Reference

Tesseract KDL utility functions. More...

#include <tesseract/common/macros.h>
#include <kdl/frames.hpp>
#include <kdl/jntarray.hpp>
#include <kdl/tree.hpp>
#include <kdl/chain.hpp>
#include <Eigen/Geometry>
#include <tesseract/scene_graph/fwd.h>

Classes
struct	tesseract::kinematics::KDLChainData
	The KDLChainData struct. More...

Functions
void	tesseract::kinematics::KDLToEigen (const KDL::Frame &frame, Eigen::Isometry3d &transform)
	Convert KDL::Frame to Eigen::Isometry3d.
void	tesseract::kinematics::EigenToKDL (const Eigen::Isometry3d &transform, KDL::Frame &frame)
	Convert Eigen::Isometry3d to KDL::Frame.
void	tesseract::kinematics::KDLToEigen (const KDL::Jacobian &jacobian, Eigen::Ref< Eigen::MatrixXd > matrix)
	Convert KDL::Jacobian to Eigen::Matrix.
void	tesseract::kinematics::KDLToEigen (const KDL::Jacobian &jacobian, const std::vector< int > &q_nrs, Eigen::Ref< Eigen::MatrixXd > matrix)
	Convert a subset of KDL::Jacobian to Eigen::Matrix.
void	tesseract::kinematics::EigenToKDL (const Eigen::Ref< const Eigen::VectorXd > &vec, KDL::JntArray &joints)
	Convert Eigen::Vector to KDL::JntArray.
void	tesseract::kinematics::KDLToEigen (const KDL::JntArray &joints, Eigen::Ref< Eigen::VectorXd > vec)
	Convert KDL::JntArray to Eigen::Vector.
bool	tesseract::kinematics::parseSceneGraph (KDLChainData &results, const tesseract::scene_graph::SceneGraph &scene_graph, const std::vector< std::pair< std::string, std::string > > &chains)
	Parse KDL chain data from the scene graph.
bool	tesseract::kinematics::parseSceneGraph (KDLChainData &results, const tesseract::scene_graph::SceneGraph &scene_graph, const std::string &base_name, const std::string &tip_name)
	Parse KDL chain data from the scene graph.

Detailed Description

Tesseract KDL utility functions.

Author

Levi Armstrong

Date

May 27, 2018

Copyright

Copyright (c) 2017, Southwest Research Institute

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Function Documentation

KDLToEigen() [1/4]

void tesseract::kinematics::KDLToEigen	(	const KDL::Frame &	frame,
		Eigen::Isometry3d &	transform
	)

Convert KDL::Frame to Eigen::Isometry3d.

Parameters

frame	Input KDL Frame
transform	Output Eigen transform (Isometry3d)

EigenToKDL() [1/2]

void tesseract::kinematics::EigenToKDL	(	const Eigen::Isometry3d &	transform,
		KDL::Frame &	frame
	)

Convert Eigen::Isometry3d to KDL::Frame.

Parameters

transform	Input Eigen transform (Isometry3d)
frame	Output KDL Frame

KDLToEigen() [2/4]

void tesseract::kinematics::KDLToEigen	(	const KDL::Jacobian &	jacobian,
		Eigen::Ref< Eigen::MatrixXd >	matrix
	)

Convert KDL::Jacobian to Eigen::Matrix.

Parameters

jacobian	Input KDL Jacobian
matrix	Output Eigen MatrixXd

KDLToEigen() [3/4]

void tesseract::kinematics::KDLToEigen	(	const KDL::Jacobian &	jacobian,
		const std::vector< int > &	q_nrs,
		Eigen::Ref< Eigen::MatrixXd >	matrix
	)

Convert a subset of KDL::Jacobian to Eigen::Matrix.

Parameters

jacobian	Input KDL Jacobian
q_nrs	Input the columns to use
matrix	Output Eigen MatrixXd

EigenToKDL() [2/2]

void tesseract::kinematics::EigenToKDL	(	const Eigen::Ref< const Eigen::VectorXd > &	vec,
		KDL::JntArray &	joints
	)

Convert Eigen::Vector to KDL::JntArray.

Parameters

vec	Input Eigen vector
joints	Output KDL joint array

KDLToEigen() [4/4]

void tesseract::kinematics::KDLToEigen	(	const KDL::JntArray &	joints,
		Eigen::Ref< Eigen::VectorXd >	vec
	)

Convert KDL::JntArray to Eigen::Vector.

Parameters

joints	Input KDL joint array
vec	Output Eigen vector

parseSceneGraph() [1/2]

bool tesseract::kinematics::parseSceneGraph	(	KDLChainData &	results,
		const tesseract::scene_graph::SceneGraph &	scene_graph,
		const std::vector< std::pair< std::string, std::string > > &	chains
	)

Parse KDL chain data from the scene graph.

Parameters

results	KDL Chain data
scene_graph	The Scene Graph
chains	A vector of link pairs that represent a chain which all get concatenated together. The firts link should be the base link and the second link should the tip link of the chain.

Returns

True if successful otherwise false

parseSceneGraph() [2/2]

bool tesseract::kinematics::parseSceneGraph	(	KDLChainData &	results,
		const tesseract::scene_graph::SceneGraph &	scene_graph,
		const std::string &	base_name,
		const std::string &	tip_name
	)

Parse KDL chain data from the scene graph.

Parameters

results	KDL Chain data
scene_graph	The Scene Graph
base_name	The base link name of chain
tip_name	The tip link name of chain

Returns

True if successful otherwise false