28 int addLimitConstraint(
const std::string& segment_name,
unsigned int dof,
double _min,
double _max);
31 bool getSegment(
const std::string& segment_name,
const unsigned int q_size,
const Joint* &p_joint,
double &q_rest,
double &q,
const Frame* &p_tip);
37 virtual const Frame&
getPose(
const unsigned int end_effector);
102 static std::string m_root;
104 unsigned int m_njoint;
105 unsigned int m_nconstraint;
106 unsigned int m_noutput;
107 unsigned int m_neffector;
represents a frame transformation in 3D space (rotation + translation)
This class encapsulates a simple joint, that is with one parameterized degree of freedom and with sca...
This class encapsulates a tree kinematic interconnection structure. It is build out of segments.
virtual void initCache(Cache *_cache)
std::vector< Joint_struct > JointList
bool addSegment(const std::string &segment_name, const std::string &hook_name, const Joint &joint, const double &q_rest, const Frame &f_tip=F_identity, const Inertia &M=Inertia::Zero())
int addLimitConstraint(const std::string &segment_name, unsigned int dof, double _min, double _max)
virtual void updateControlOutput(const Timestamp ×tamp)
virtual void pushCache(const Timestamp ×tamp)
virtual bool updateJoint(const Timestamp ×tamp, JointLockCallback &callback)
virtual void updateKinematics(const Timestamp ×tamp)
bool getRelativeFrame(Frame &result, const std::string &segment_name, const std::string &base_name=m_root)
virtual const Frame & getPose(const unsigned int end_effector)
std::vector< JointConstraint_struct * > JointConstraintList
int addConstraint(const std::string &segment_name, ConstraintCallback _function, void *_param=NULL, bool _freeParam=false, bool _substep=false)
virtual int addEndEffector(const std::string &name)
std::vector< Effector_struct > EffectorList
bool getSegment(const std::string &segment_name, const unsigned int q_size, const Joint *&p_joint, double &q_rest, double &q, const Frame *&p_tip)
virtual void updateJacobian()
virtual bool setControlParameter(unsigned int constraintId, unsigned int valueId, ConstraintAction action, double value, double timestep=0.0)
virtual double getArmLength()
double getMaxEndEffectorChange()
virtual bool setJointArray(const KDL::JntArray &joints)
double getMaxJointChange()
virtual const KDL::JntArray & getJointArray()
DEGForeachIDComponentCallback callback
bool(* ConstraintCallback)(const Timestamp ×tamp, struct ConstraintValues *const _values, unsigned int _nvalues, void *_param)
Effector_struct(const std::string &_name)
JointConstraint_struct(SegmentMap::const_iterator _segment, unsigned int _y_nr, ConstraintCallback _function, void *_param, bool _freeParam, bool _substep)
ConstraintSingleValue value[3]
SegmentMap::const_iterator segment
ConstraintValues values[3]
~JointConstraint_struct()
KDL::Joint::JointType type
Joint_struct(KDL::Joint::JointType _type, unsigned int _ndof, double _rest)