Класс робота с URDF параметрами Работает только с неиерархичными объектами или если иерархия не имеет ветвлений (классические роботы-манипуляторы) More...
#include <urdf_robot.h>
Inheritance diagram for bmpf::URDFRobot:
Collaboration diagram for bmpf::URDFRobot:
Public Member Functions | |
| URDFRobot ()=default | |
| void | loadFromFile (std::string path) override |
| Загрузить параметры робота из файла More... | |
 Public Member Functions inherited from bmpf::BaseRobot | |
| virtual | ~BaseRobot ()=default |
| BaseRobot () | |
| virtual std::vector< Eigen::Vector3d > | getJointAxes (std::vector< double > state) |
| virtual std::vector< Eigen::Matrix4d > | getTransformMatrices (std::vector< double > state) |
| virtual Eigen::Matrix4d | getEndEffectorTransformMatrix (std::vector< double > state) |
| Eigen::Matrix4d | getEndEffectorDiffTransformMatrix (std::vector< double > state, int iVal) |
| Eigen::Matrix4d | getEndEffectorDiff2TransformMatrix (std::vector< double > state, int iVal, int jVal) |
| bool | isStateEnabled (std::vector< double > state) |
| std::vector< double > | getWorldTranslation () const |
| std::vector< double > | getWorldRotation () const |
| std::vector< double > | getWorldScale () const |
| std::vector< double > | getWorldTransformVector () const |
| const std::shared_ptr< Eigen::Matrix4d > & | getWorldTransformMatrix () const |
| unsigned long | getJointCnt () const |
| std::vector< double > | getMaxSpeedModules () |
| std::vector< double > | getMaxAccelerationModules () |
| unsigned long | getLinkCnt () const |
| std::vector< std::shared_ptr< JointParams > > | getJointParamsList () const |
| std::vector< std::shared_ptr< Link > > | getLinks () const |
| std::string | getPath () const |
| void | setWorldTranslation (const std::vector< double > &translation) |
| void | setWorldRotation (const std::vector< double > &rotation) |
| void | setWorldScale (const std::vector< double > &scale) |
| void | setWorldTransformVector (const std::vector< double > &vec) |
| std::vector< std::string > | getModelPaths () const |
| std::vector< double > | getEndEffectorPos (std::vector< double > state) |
| std::vector< double > | getEndEffectorDiffPos (std::vector< double > state, int iVal) |
| std::vector< double > | getEndEffectorDiff2Pos (std::vector< double > state, int iVal, int jVal) |
| std::vector< double > | getEndEffectorRGVector (std::vector< double > state) |
| std::vector< double > | getEndEffectorDiffRGVector (std::vector< double > state, int iVal) |
| std::vector< double > | getEndEffectorDiff2RGVector (std::vector< double > state, int iVal, int jVal) |
| std::vector< double > | getAllLinkPositions (std::vector< double > state) |
| std::vector< double > | getAllLinkRGVectors (std::vector< double > state) |
| std::vector< double > | getMassCenterAbsolutePositions (std::vector< double > state) |
| virtual std::vector< double > | getMassCenterLocalPositions () |
| virtual std::vector< Eigen::Matrix3d > | getInertias () |
| std::vector< double > | getRandomState () |
Additional Inherited Members | |
| Protected Member Functions inherited from bmpf::BaseRobot | |
| void | _fillWorldTransformMatrix () |
| template<typename F > | |
| void | _forEachJoint (std::vector< double > state, const F &consumer) |
| template<typename F > | |
| void | _forEachDiffJoint (std::vector< double > state, int iVal, const F &consumer) |
| template<typename F > | |
| void | _forEachDiff2Joint (std::vector< double > state, int iVal, int jVal, const F &consumer) |
| Protected Attributes inherited from bmpf::BaseRobot | |
| std::vector< std::shared_ptr< Joint > > | _joints |
| std::vector< std::shared_ptr< JointParams > > | _jointParams |
| std::vector< double > | _maxSpeedModules |
| std::vector< double > | _maxAccelerationModules |
| std::vector< std::shared_ptr< Link > > | _links |
| std::vector< std::shared_ptr< Link > > | _nonHierarchicalLinks |
| std::string | _path |
| std::vector< double > | _worldTransformVector |
| std::shared_ptr< Eigen::Matrix4d > | _worldTransformMatrix |
Detailed Description
Класс робота с URDF параметрами Работает только с неиерархичными объектами или если иерархия не имеет ветвлений (классические роботы-манипуляторы)
Constructor & Destructor Documentation
◆ URDFRobot()
|
default |
Конструктор
Member Function Documentation
◆ loadFromFile()
|
overridevirtual |
Загрузить параметры робота из файла
Загрузить параметры робота из файла, нужно заполнить следующие поля: _jointParams, _links, _nonHierarchicalLinks, path
- Parameters
-
path путь к файлу описания робота
Implements bmpf::BaseRobot.
The documentation for this class was generated from the following files:
- project/core/robot/include/urdf_robot.h
- project/core/robot/src/urdf_robot.cpp
