FastFKSolver Class Reference

#include <FastFKSolver.h>

List of all members.

Classes
class	Data
Public Types
typedef boost::adjacency_list < boost::listS, boost::listS, boost::bidirectionalS, Data >	SegmentGraph
typedef boost::graph_traits < SegmentGraph > ::vertex_descriptor	SegmentGraphVertex
typedef boost::graph_traits < SegmentGraph > ::out_edge_iterator	SegmentGraphOutEdges
typedef std::map< std::string, SegmentGraphVertex >	VertexMap
Public Member Functions
	FastFKSolver (const KDL::Tree &tree)
SegmentGraphVertex	buildGraph (const KDL::SegmentMap::const_iterator thisSegment)
void	printGraph ()
bool	getFrame (const std::string &segmentName, KDL::Frame &frame)
void	setJointPositions (const KDL::JntArray &q_in)
Public Attributes
KDL::JntArray	m_currentJoints
KDL::Tree	m_tree
SegmentGraph	m_graph
VertexMap	m_map
SegmentGraphVertex	m_rootVertex
std::ofstream	m_log

---

Detailed Description

Definition at line 11 of file FastFKSolver.h.

---

Member Typedef Documentation

typedef boost::adjacency_list<boost::listS, boost::listS, boost::bidirectionalS, Data> FastFKSolver::SegmentGraph

Definition at line 25 of file FastFKSolver.h.

typedef boost::graph_traits<SegmentGraph>::out_edge_iterator FastFKSolver::SegmentGraphOutEdges

Definition at line 27 of file FastFKSolver.h.

typedef boost::graph_traits<SegmentGraph>::vertex_descriptor FastFKSolver::SegmentGraphVertex

Definition at line 26 of file FastFKSolver.h.

typedef std::map<std::string, SegmentGraphVertex> FastFKSolver::VertexMap

Definition at line 28 of file FastFKSolver.h.

---

Constructor & Destructor Documentation

FastFKSolver::FastFKSolver

(

const KDL::Tree &

tree

)

[inline]

Definition at line 30 of file FastFKSolver.h.

---

Member Function Documentation

SegmentGraphVertex FastFKSolver::buildGraph

(

const KDL::SegmentMap::const_iterator

thisSegment

)

[inline]

Definition at line 39 of file FastFKSolver.h.

bool FastFKSolver::getFrame	(	const std::string &	segmentName,
		KDL::Frame &	frame
	)		[inline]

Definition at line 87 of file FastFKSolver.h.

void FastFKSolver::printGraph

(

)

[inline]

Definition at line 60 of file FastFKSolver.h.

void FastFKSolver::setJointPositions

(

const KDL::JntArray &

q_in

)

[inline]

Definition at line 158 of file FastFKSolver.h.

---

Member Data Documentation

KDL::JntArray FastFKSolver::m_currentJoints

Definition at line 173 of file FastFKSolver.h.

SegmentGraph FastFKSolver::m_graph

Definition at line 175 of file FastFKSolver.h.

std::ofstream FastFKSolver::m_log

Definition at line 178 of file FastFKSolver.h.

VertexMap FastFKSolver::m_map

Definition at line 176 of file FastFKSolver.h.

SegmentGraphVertex FastFKSolver::m_rootVertex

Definition at line 177 of file FastFKSolver.h.

KDL::Tree FastFKSolver::m_tree

Definition at line 174 of file FastFKSolver.h.

---

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

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