constraint_app
Affordance Class Reference

#include <Affordance.h>

List of all members.

Classes

class  Joint

Public Types

typedef boost::shared_ptr
< Affordance
Ptr
typedef std::vector< double > StateVector
typedef std::map< std::string,
KDL::Twist > 
SegmentNoiseMap
typedef
boost::multi_index_container
< Joint, indexed_by
< ordered_unique< member
< Joint, int,&Joint::num >
>, ordered_unique< member
< Joint, std::string,&Joint::name > > > > 
JointMultiIndex

Public Member Functions

 Affordance (const std::string &filename, std::ostream &log=std::cout)
bool GetStateFromMsg (const drc::affordance_t &msg, StateVector &state)
void PrintState (const StateVector &state)
KDL::Tree & GetTree ()
bool GetSegmentExpressedInWorld (const std::string &segmentName, const StateVector &state, KDL::Frame &segment_expressedIn_world)
bool GetSegmentJacobianExpressedInWorld (const std::string &segmentName, const StateVector &state, KDL::Jacobian &jacobian)
bool GetSegmentJacobianExpressedInWorld2 (const std::string &segmentName, const StateVector &state, KDL::Jacobian &jacobian)
bool DecodeState (const StateVector &state, KDL::Frame &root_expressedIn_world, KDL::JntArray &joints)
void DecodeState (const StateVector &state, KDL::JntArray &joints)
void PrintKdlTree ()
bool noisyTreeCopy (const SegmentNoiseMap &noiseMap, KDL::Tree &newTree, KDL::SegmentMap::const_iterator root, const std::string &hook_name)
void GetJointNames (std::vector< std::string > &names)

Static Public Member Functions

static KDL::Frame GetFrameFromVector (const StateVector &state)

Public Attributes

std::ostream & m_log
KDL::Tree m_tree
KDL::Tree m_originalTree
JointMultiIndex m_joints

Detailed Description

Definition at line 26 of file Affordance.h.


Member Typedef Documentation

typedef boost::multi_index_container< Joint, indexed_by< ordered_unique<member<Joint, int, &Joint::num> >, ordered_unique<member<Joint, std::string, &Joint::name> > > > Affordance::JointMultiIndex

Definition at line 84 of file Affordance.h.

typedef boost::shared_ptr<Affordance> Affordance::Ptr

Definition at line 35 of file Affordance.h.

typedef std::map<std::string, KDL::Twist> Affordance::SegmentNoiseMap

Definition at line 37 of file Affordance.h.

typedef std::vector<double> Affordance::StateVector

Definition at line 36 of file Affordance.h.


Constructor & Destructor Documentation

Affordance::Affordance ( const std::string &  filename,
std::ostream &  log = std::cout 
)

Definition at line 8 of file Affordance.cpp.


Member Function Documentation

bool Affordance::DecodeState ( const StateVector state,
KDL::Frame &  root_expressedIn_world,
KDL::JntArray &  joints 
)

Definition at line 311 of file Affordance.cpp.

void Affordance::DecodeState ( const StateVector state,
KDL::JntArray &  joints 
)

Definition at line 334 of file Affordance.cpp.

KDL::Frame Affordance::GetFrameFromVector ( const StateVector state) [static]

Definition at line 426 of file Affordance.cpp.

void Affordance::GetJointNames ( std::vector< std::string > &  names)

Definition at line 436 of file Affordance.cpp.

bool Affordance::GetSegmentExpressedInWorld ( const std::string &  segmentName,
const StateVector state,
KDL::Frame &  segment_expressedIn_world 
)

Definition at line 346 of file Affordance.cpp.

bool Affordance::GetSegmentJacobianExpressedInWorld ( const std::string &  segmentName,
const StateVector state,
KDL::Jacobian &  jacobian 
)

Definition at line 368 of file Affordance.cpp.

bool Affordance::GetSegmentJacobianExpressedInWorld2 ( const std::string &  segmentName,
const StateVector state,
KDL::Jacobian &  jacobian 
)

Definition at line 397 of file Affordance.cpp.

bool Affordance::GetStateFromMsg ( const drc::affordance_t &  msg,
StateVector state 
)

Definition at line 258 of file Affordance.cpp.

KDL::Tree& Affordance::GetTree ( ) [inline]

Definition at line 43 of file Affordance.h.

bool Affordance::noisyTreeCopy ( const SegmentNoiseMap noiseMap,
KDL::Tree &  newTree,
KDL::SegmentMap::const_iterator  root,
const std::string &  hook_name 
)

Definition at line 146 of file Affordance.cpp.

void Affordance::PrintKdlTree ( ) [inline]

Definition at line 54 of file Affordance.h.

void Affordance::PrintState ( const StateVector state)

Definition at line 303 of file Affordance.cpp.


Member Data Documentation

Definition at line 85 of file Affordance.h.

std::ostream& Affordance::m_log

Definition at line 74 of file Affordance.h.

Definition at line 76 of file Affordance.h.

KDL::Tree Affordance::m_tree

Definition at line 75 of file Affordance.h.


The documentation for this class was generated from the following files:
 All Classes Files Functions Variables Typedefs