#include <kdl_utils.h>

Collaboration diagram for tesseract_kinematics::KDLChainData:

[legend]

Public Attributes
KDL::Chain	robot_chain
	KDL Chain object. More...

KDL::Tree	kdl_tree
	KDL tree object. More...

std::vector< std::string >	joint_names
	List of joint names. More...

std::string	base_link_name
	Link name of first link in the kinematic object. More...

std::string	tip_link_name
	Link name of last kink in the kinematic object. More...

std::map< std::string, int >	segment_index
	A map from chain link name to kdl chain segment number. More...

std::vector< std::pair< std::string, std::string > >	chains

Detailed Description

This contains common data extracted when parsing a kdl chain from the scene graph

Member Data Documentation

std::string tesseract_kinematics::KDLChainData::base_link_name

Link name of first link in the kinematic object.

std::vector<std::pair<std::string, std::string> > tesseract_kinematics::KDLChainData::chains

The chains used to create the object

std::vector<std::string> tesseract_kinematics::KDLChainData::joint_names

List of joint names.

KDL::Tree tesseract_kinematics::KDLChainData::kdl_tree

KDL tree object.

KDL::Chain tesseract_kinematics::KDLChainData::robot_chain

KDL Chain object.

std::map<std::string, int> tesseract_kinematics::KDLChainData::segment_index

A map from chain link name to kdl chain segment number.

std::string tesseract_kinematics::KDLChainData::tip_link_name

Link name of last kink in the kinematic object.

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