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

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Detailed Description

Definition at line 26 of file Affordance.h.

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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.

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Constructor & Destructor Documentation

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

Definition at line 8 of file Affordance.cpp.

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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.

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Member Data Documentation

JointMultiIndex Affordance::m_joints

Definition at line 85 of file Affordance.h.

std::ostream& Affordance::m_log

Definition at line 74 of file Affordance.h.

KDL::Tree Affordance::m_originalTree

Definition at line 76 of file Affordance.h.

KDL::Tree Affordance::m_tree

Definition at line 75 of file Affordance.h.

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

• /home/jbrooksh/drc/software/perception/constraint_app/src/matlab_mex/Affordance.h
• /home/jbrooksh/drc/software/perception/constraint_app/src/matlab_mex/Affordance.cpp