Public Member Functions | |
RobotFK_Fast (moveit::core::RobotModelConstPtr model) | |
void | incrementalBegin (const std::vector< double > &jj) |
void | incrementalEnd () |
void | applyConfiguration (const std::vector< double > &jj) |
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RobotFK_Fast_Base (moveit::core::RobotModelConstPtr model) | |
void | initialize (const std::vector< size_t > &tip_link_indices) |
void | applyConfiguration (const std::vector< double > &jj0) |
const Frame & | getTipFrame (size_t fi) const |
const std::vector< Frame > & | getTipFrames () const |
void | incrementalBegin (const std::vector< double > &jj) |
void | incrementalEnd () |
const Frame & | getJointVariableFrame (size_t variable_index) |
Protected Member Functions | |
void | updateIncremental (const std::vector< double > &vars0) |
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void | updateMimic (std::vector< double > &values) |
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const Frame & | getLinkFrame (const moveit::core::LinkModel *link_model) |
bool | checkJointMoved (const moveit::core::JointModel *joint_model) |
void | putJointCache (const moveit::core::JointModel *joint_model, const Frame &frame) |
const Frame & | getJointFrame (const moveit::core::JointModel *joint_model) |
void | getJointFrame (const moveit::core::JointModel *joint_model, const double *variables, Frame &frame) |
void | getJointFrame (const moveit::core::JointModel *joint_model, const std::vector< double > &variables, Frame &frame) |
RobotJointEvaluator (moveit::core::RobotModelConstPtr model) | |
Protected Attributes | |
std::vector< std::vector< Frame > > | chain_cache |
std::vector< double > | vars |
std::vector< double > | variables0 |
std::vector< Frame > | test_tips |
std::vector< uint8_t > | links_changed |
bool | use_incremental |
bool | last_use_incremental |
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std::vector< std::string > | tip_names |
std::vector< Frame > | tip_frames |
std::vector< const moveit::core::LinkModel * > | tip_links |
std::vector< const moveit::core::LinkModel * > | link_schedule |
std::vector< Frame > | global_frames |
std::vector< std::vector< const moveit::core::LinkModel * > > | link_chains |
std::vector< size_t > | active_variables |
std::vector< std::pair< size_t, size_t > > | variable_to_link_map |
std::vector< size_t > | variable_to_link_map_2 |
std::vector< std::pair< size_t, size_t > > | variable_to_link_chain_map |
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std::vector< Vector3 > | joint_axis_list |
moveit::core::RobotModelConstPtr | robot_model |
std::vector< double > | variables |
Definition at line 362 of file forward_kinematics.h.