Tesseract
Motion Planning Environment
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Classes | Namespaces | Functions
kdl_utils.h File Reference

Tesseract KDL utility functions. More...

#include <tesseract_common/macros.h>
#include <kdl/frames.hpp>
#include <kdl/jntarray.hpp>
#include <Eigen/Eigen>
#include <tesseract_common/types.h>
#include <tesseract_common/utils.h>
#include <tesseract_scene_graph/graph.h>
#include <tesseract_scene_graph/kdl_parser.h>
#include <tesseract_kinematics/core/utils.h>
#include <tesseract_kinematics/core/types.h>
Include dependency graph for kdl_utils.h:
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Go to the source code of this file.

Classes

struct  tesseract_kinematics::KDLChainData
 The KDLChainData struct. More...
 

Namespaces

namespace  tesseract_kinematics
 

Functions

void tesseract_kinematics::KDLToEigen (const KDL::Frame &frame, Eigen::Isometry3d &transform)
 Convert KDL::Frame to Eigen::Isometry3d. More...
 
void tesseract_kinematics::EigenToKDL (const Eigen::Isometry3d &transform, KDL::Frame &frame)
 Convert Eigen::Isometry3d to KDL::Frame. More...
 
void tesseract_kinematics::KDLToEigen (const KDL::Jacobian &jacobian, Eigen::Ref< Eigen::MatrixXd > matrix)
 Convert KDL::Jacobian to Eigen::Matrix. More...
 
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. More...
 
void tesseract_kinematics::EigenToKDL (const Eigen::Ref< const Eigen::VectorXd > &vec, KDL::JntArray &joints)
 Convert Eigen::Vector to KDL::JntArray. More...
 
void tesseract_kinematics::KDLToEigen (const KDL::JntArray &joints, Eigen::Ref< Eigen::VectorXd > vec)
 Convert KDL::JntArray to Eigen::Vector. More...
 
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. More...
 
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. More...
 

Detailed Description

Tesseract KDL utility functions.

Author
Levi Armstrong
Date
May 27, 2018
Version
TODO
Bug:
No known bugs
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.