KDL kinematic chain implementation. More...

#include <kdl_fwd_kin_chain.h>

Inheritance diagram for tesseract_kinematics::KDLFwdKinChain:

Collaboration diagram for tesseract_kinematics::KDLFwdKinChain:

[legend]

Public Types
using	Ptr = std::shared_ptr< KDLFwdKinChain >

using	ConstPtr = std::shared_ptr< const KDLFwdKinChain >

using	UPtr = std::unique_ptr< KDLFwdKinChain >

using	ConstUPtr = std::unique_ptr< const KDLFwdKinChain >

Public Types inherited from tesseract_kinematics::ForwardKinematics
using	Ptr = std::shared_ptr< ForwardKinematics >

using	ConstPtr = std::shared_ptr< const ForwardKinematics >

using	UPtr = std::unique_ptr< ForwardKinematics >

using	ConstUPtr = std::unique_ptr< const ForwardKinematics >

Public Member Functions
	~KDLFwdKinChain () override=default

	KDLFwdKinChain (const KDLFwdKinChain &other)

KDLFwdKinChain &	operator= (const KDLFwdKinChain &other)

	KDLFwdKinChain (KDLFwdKinChain &&)=delete

KDLFwdKinChain &	operator= (KDLFwdKinChain &&)=delete

	KDLFwdKinChain (const tesseract_scene_graph::SceneGraph &scene_graph, const std::string &base_link, const std::string &tip_link, std::string solver_name=KDL_FWD_KIN_CHAIN_SOLVER_NAME)
	Initializes Forward Kinematics as chain Creates a forward kinematic chain object. More...

	KDLFwdKinChain (const tesseract_scene_graph::SceneGraph &scene_graph, const std::vector< std::pair< std::string, std::string > > &chains, std::string solver_name=KDL_FWD_KIN_CHAIN_SOLVER_NAME)
	Construct Forward Kinematics as chain Creates a forward kinematic chain object from sequential chains. More...

tesseract_common::TransformMap	calcFwdKin (const Eigen::Ref< const Eigen::VectorXd > &joint_angles) const override final
	Calculates the transform for each tip link in the kinematic group. More...

Eigen::MatrixXd	calcJacobian (const Eigen::Ref< const Eigen::VectorXd > &joint_angles, const std::string &joint_link_name) const override final
	Calculates the Jacobian matrix for a given joint state in the reference frame of the specified link. More...

std::string	getBaseLinkName () const override final
	Get the robot base link name. More...

std::vector< std::string >	getJointNames () const override final
	Get list of joint names for kinematic object. More...

std::vector< std::string >	getTipLinkNames () const override final
	Get list of tip link names for kinematic object. More...

Eigen::Index	numJoints () const override final
	Number of joints in robot. More...

std::string	getSolverName () const override final
	Get the name of the solver. Recommend using the name of the class. More...

ForwardKinematics::UPtr	clone () const override final
	Clone the forward kinematics object. More...

Public Member Functions inherited from tesseract_kinematics::ForwardKinematics
	ForwardKinematics ()=default

virtual	~ForwardKinematics ()=default

	ForwardKinematics (const ForwardKinematics &)=default

ForwardKinematics &	operator= (const ForwardKinematics &)=default

	ForwardKinematics (ForwardKinematics &&)=default

ForwardKinematics &	operator= (ForwardKinematics &&)=default

virtual tesseract_common::TransformMap	calcFwdKin (const Eigen::Ref< const Eigen::VectorXd > &joint_angles) const =0
	Calculates the transform for each tip link in the kinematic group. More...

virtual Eigen::MatrixXd	calcJacobian (const Eigen::Ref< const Eigen::VectorXd > &joint_angles, const std::string &link_name) const =0
	Calculates the Jacobian matrix for a given joint state in the reference frame of the specified link. More...

virtual std::string	getBaseLinkName () const =0
	Get the robot base link name. More...

virtual std::vector< std::string >	getJointNames () const =0
	Get list of joint names for kinematic object. More...

virtual std::vector< std::string >	getTipLinkNames () const =0
	Get list of tip link names for kinematic object. More...

virtual Eigen::Index	numJoints () const =0
	Number of joints in robot. More...

virtual std::string	getSolverName () const =0
	Get the name of the solver. Recommend using the name of the class. More...

virtual ForwardKinematics::UPtr	clone () const =0
	Clone the forward kinematics object. More...

Private Member Functions
tesseract_common::TransformMap	calcFwdKinHelperAll (const Eigen::Ref< const Eigen::VectorXd > &joint_angles) const
	calcFwdKin helper function More...

bool	calcJacobianHelper (KDL::Jacobian &jacobian, const Eigen::Ref< const Eigen::VectorXd > &joint_angles, int segment_num=-1) const
	calcJacobian helper function More...

Private Attributes
KDLChainData	kdl_data_

std::string	name_

std::unique_ptr< KDL::ChainFkSolverPos_recursive >	fk_solver_

std::unique_ptr< KDL::ChainJntToJacSolver >	jac_solver_

std::string	solver_name_ { KDL_FWD_KIN_CHAIN_SOLVER_NAME }
	Name of this solver. More...

std::mutex	mutex_
	KDL is not thread safe due to mutable variables in Joint Class. More...

Detailed Description

KDL kinematic chain implementation.

Typically, just wrappers around the equivalent KDL calls.

Member Typedef Documentation

◆ ConstPtr

using tesseract_kinematics::KDLFwdKinChain::ConstPtr = std::shared_ptr<const KDLFwdKinChain>

◆ ConstUPtr

using tesseract_kinematics::KDLFwdKinChain::ConstUPtr = std::unique_ptr<const KDLFwdKinChain>

◆ Ptr

using tesseract_kinematics::KDLFwdKinChain::Ptr = std::shared_ptr<KDLFwdKinChain>

◆ UPtr

using tesseract_kinematics::KDLFwdKinChain::UPtr = std::unique_ptr<KDLFwdKinChain>

Constructor & Destructor Documentation

◆ ~KDLFwdKinChain()

tesseract_kinematics::KDLFwdKinChain::~KDLFwdKinChain ( )

overridedefault

◆ KDLFwdKinChain() [1/4]

tesseract_kinematics::KDLFwdKinChain::KDLFwdKinChain ( const KDLFwdKinChain & other )

◆ KDLFwdKinChain() [2/4]

tesseract_kinematics::KDLFwdKinChain::KDLFwdKinChain ( KDLFwdKinChain && )

delete

◆ KDLFwdKinChain() [3/4]

tesseract_kinematics::KDLFwdKinChain::KDLFwdKinChain	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const std::string &	base_link,
		const std::string &	tip_link,
		std::string	solver_name = `KDL_FWD_KIN_CHAIN_SOLVER_NAME`
	)

Initializes Forward Kinematics as chain Creates a forward kinematic chain object.

Parameters

scene_graph	The Tesseract Scene Graph
base_link	The name of the base link for the kinematic chain
tip_link	The name of the tip link for the kinematic chain
solver_name	The solver name of the kinematic chain

◆ KDLFwdKinChain() [4/4]

tesseract_kinematics::KDLFwdKinChain::KDLFwdKinChain	(	const tesseract_scene_graph::SceneGraph &	scene_graph,
		const std::vector< std::pair< std::string, std::string > > &	chains,
		std::string	solver_name = `KDL_FWD_KIN_CHAIN_SOLVER_NAME`
	)

Construct Forward Kinematics as chain Creates a forward kinematic chain object from sequential chains.

Parameters

scene_graph	The Tesseract Scene Graph
chains	A vector of kinematics chains <base_link, tip_link> that get concatenated
solver_name	The solver name of the kinematic chain

Member Function Documentation

◆ calcFwdKin()

tesseract_common::TransformMap tesseract_kinematics::KDLFwdKinChain::calcFwdKin ( const Eigen::Ref< const Eigen::VectorXd > & joint_angles ) const

finaloverridevirtual

Calculates the transform for each tip link in the kinematic group.

This should return a transform for every link listed in getTipLinkNames() Throws an exception on failures (including uninitialized)

Parameters

joint_angles Vector of joint angles (size must match number of joints in robot chain)

Returns: A map of tip link names and transforms

Implements tesseract_kinematics::ForwardKinematics.

◆ calcFwdKinHelperAll()

tesseract_common::TransformMap tesseract_kinematics::KDLFwdKinChain::calcFwdKinHelperAll ( const Eigen::Ref< const Eigen::VectorXd > & joint_angles ) const

private

calcFwdKin helper function

◆ calcJacobian()

Eigen::MatrixXd tesseract_kinematics::KDLFwdKinChain::calcJacobian	(	const Eigen::Ref< const Eigen::VectorXd > &	joint_angles,
		const std::string &	link_name
	)		const

finaloverridevirtual

Calculates the Jacobian matrix for a given joint state in the reference frame of the specified link.

This should be able to return a jacobian given any link listed in getTipLinkNames() Throws an exception on failures (including uninitialized)

Parameters

joint_angles	Input vector of joint angles
link_name	The link name to calculate jacobian

Returns: The jacobian at the provided link

Implements tesseract_kinematics::ForwardKinematics.

◆ calcJacobianHelper()

bool tesseract_kinematics::KDLFwdKinChain::calcJacobianHelper	(	KDL::Jacobian &	jacobian,
		const Eigen::Ref< const Eigen::VectorXd > &	joint_angles,
		int	segment_num = `-1`
	)		const

private

calcJacobian helper function

◆ clone()

ForwardKinematics::UPtr tesseract_kinematics::KDLFwdKinChain::clone ( ) const

finaloverridevirtual

Clone the forward kinematics object.

Implements tesseract_kinematics::ForwardKinematics.

◆ getBaseLinkName()

std::string tesseract_kinematics::KDLFwdKinChain::getBaseLinkName ( ) const

finaloverridevirtual

Get the robot base link name.

Implements tesseract_kinematics::ForwardKinematics.

◆ getJointNames()

std::vector< std::string > tesseract_kinematics::KDLFwdKinChain::getJointNames ( ) const

finaloverridevirtual

Get list of joint names for kinematic object.

Returns: A vector of joint names

Implements tesseract_kinematics::ForwardKinematics.

◆ getSolverName()

std::string tesseract_kinematics::KDLFwdKinChain::getSolverName ( ) const

finaloverridevirtual

Get the name of the solver. Recommend using the name of the class.

Implements tesseract_kinematics::ForwardKinematics.

◆ getTipLinkNames()

std::vector< std::string > tesseract_kinematics::KDLFwdKinChain::getTipLinkNames ( ) const

finaloverridevirtual

Get list of tip link names for kinematic object.

Returns: A vector of link names

Implements tesseract_kinematics::ForwardKinematics.

◆ numJoints()

Eigen::Index tesseract_kinematics::KDLFwdKinChain::numJoints ( ) const

finaloverridevirtual

Number of joints in robot.

Returns: Number of joints in robot

Implements tesseract_kinematics::ForwardKinematics.

◆ operator=() [1/2]

KDLFwdKinChain & tesseract_kinematics::KDLFwdKinChain::operator= ( const KDLFwdKinChain & other )

◆ operator=() [2/2]

KDLFwdKinChain & tesseract_kinematics::KDLFwdKinChain::operator= ( KDLFwdKinChain && )

delete

Member Data Documentation

◆ fk_solver_

std::unique_ptr<KDL::ChainFkSolverPos_recursive> tesseract_kinematics::KDLFwdKinChain::fk_solver_

private

KDL Forward Kinematic Solver

◆ jac_solver_

std::unique_ptr<KDL::ChainJntToJacSolver> tesseract_kinematics::KDLFwdKinChain::jac_solver_

private

KDL Jacobian Solver

◆ kdl_data_

KDLChainData tesseract_kinematics::KDLFwdKinChain::kdl_data_

private

KDL data parsed from Scene Graph

◆ mutex_

std::mutex tesseract_kinematics::KDLFwdKinChain::mutex_

mutableprivate

KDL is not thread safe due to mutable variables in Joint Class.

◆ name_

std::string tesseract_kinematics::KDLFwdKinChain::name_

private

Name of the kinematic chain

◆ solver_name_

std::string tesseract_kinematics::KDLFwdKinChain::solver_name_ { KDL_FWD_KIN_CHAIN_SOLVER_NAME }

private

Name of this solver.

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

tesseract_kinematics/kdl/include/tesseract_kinematics/kdl/kdl_fwd_kin_chain.h
tesseract_kinematics/kdl/src/kdl_fwd_kin_chain.cpp

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ ConstUPtr

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ ~KDLFwdKinChain()

◆ KDLFwdKinChain() [1/4]

◆ KDLFwdKinChain() [2/4]

◆ KDLFwdKinChain() [3/4]

◆ KDLFwdKinChain() [4/4]

Member Function Documentation

◆ calcFwdKin()

◆ calcFwdKinHelperAll()

◆ calcJacobian()

◆ calcJacobianHelper()

◆ clone()

◆ getBaseLinkName()

◆ getJointNames()

◆ getSolverName()

◆ getTipLinkNames()

◆ numJoints()

◆ operator=() [1/2]

◆ operator=() [2/2]

Member Data Documentation

◆ fk_solver_

◆ jac_solver_

◆ kdl_data_

◆ mutex_

◆ name_

◆ solver_name_