holistic_fusion::StaticTransformsUrdf Class Reference

#include <StaticTransformsUrdf.h>

Inheritance diagram for holistic_fusion::StaticTransformsUrdf:

Collaboration diagram for holistic_fusion::StaticTransformsUrdf:

Public Member Functions
	StaticTransformsUrdf (const std::shared_ptr< ros::NodeHandle > privateNodePtr)
void	setup ()
Public Member Functions inherited from holistic_fusion::StaticTransforms
	StaticTransforms ()
void	setImuFrame (const std::string &s)
void	setWorldFrame (const std::string &s)
void	setOdomFrame (const std::string &s)
void	setBaseLinkFrame (const std::string &s)
void	setInitializationFrame (const std::string &s)
const std::string &	getImuFrame ()
const std::string &	getWorldFrame ()
const std::string &	getOdomFrame ()
const std::string &	getBaseLinkFrame ()
const std::string &	getInitializationFrame ()
Public Member Functions inherited from holistic_fusion::TransformsDictionary< Eigen::Isometry3d >
	TransformsDictionary (Eigen::Isometry3d identityObject)
bool	isFramePairInDictionary (const std::string &frame1, const std::string &frame2)
virtual bool	removeTransform (const std::string &frame1, const std::string &frame2, Eigen::Isometry3d &removedTransform)
size_t	getNumberStoredTransformationPairs ()
Eigen::Isometry3d &	lv_T_frame1_frame2 (const std::string &frame1, const std::string &frame2)
const Eigen::Isometry3d &	rv_T_frame1_frame2 (const std::string &frame1, const std::string &frame2) const
std::map< std::pair< std::string, std::string >, Eigen::Isometry3d > &	getTransformsMap ()
void	set_T_frame1_frame2_andInverse (const std::string &frame1, const std::string &frame2, const Eigen::Isometry3d &T_frame1_frame2)
void	set_T_frame1_frame2 (const std::string &frame1, const std::string &frame2, const Eigen::Isometry3d T_frame1_frame2)

Protected Member Functions
void	getRootTransformations (const KDL::SegmentMap::const_iterator element, std::string rootName="")
tf::Transform	kdlToTransform (const KDL::Frame &k)

Protected Attributes
std::string	urdfDescriptionName_
	Description.
urdf::Model	urdfModel_
std::unique_ptr< urdf::Model >	model_
KDL::Tree	tree_
std::map< std::string, ElementToRoot >	segments_
	A map of dynamic segment names to SegmentPair structures.
ros::NodeHandle	privateNode_
Protected Attributes inherited from holistic_fusion::StaticTransforms
std::string	worldFrame_
std::string	odomFrame_
std::string	imuFrame_
std::string	baseLinkFrame_
std::string	initializationFrame_

Private Member Functions
virtual bool	findTransformations ()=0

Detailed Description

Definition at line 22 of file StaticTransformsUrdf.h.

Constructor & Destructor Documentation

StaticTransformsUrdf()

holistic_fusion::StaticTransformsUrdf::StaticTransformsUrdf

(

const std::shared_ptr< ros::NodeHandle >

privateNodePtr

)

Definition at line 17 of file StaticTransformsUrdf.cpp.

Member Function Documentation

findTransformations()

virtual bool holistic_fusion::StaticTransformsUrdf::findTransformations ( )

privatepure virtual

Implements holistic_fusion::StaticTransforms.

getRootTransformations()

void holistic_fusion::StaticTransformsUrdf::getRootTransformations ( const KDL::SegmentMap::const_iterator element, std::string rootName = "" )

protected

Definition at line 53 of file StaticTransformsUrdf.cpp.

kdlToTransform()

tf::Transform holistic_fusion::StaticTransformsUrdf::kdlToTransform ( const KDL::Frame & k )

protected

Definition at line 85 of file StaticTransformsUrdf.cpp.

setup()

void holistic_fusion::StaticTransformsUrdf::setup

(

)

Definition at line 22 of file StaticTransformsUrdf.cpp.

Member Data Documentation

model_

std::unique_ptr<urdf::Model> holistic_fusion::StaticTransformsUrdf::model_

protected

Definition at line 34 of file StaticTransformsUrdf.h.

privateNode_

ros::NodeHandle holistic_fusion::StaticTransformsUrdf::privateNode_

protected

Definition at line 45 of file StaticTransformsUrdf.h.

segments_

std::map<std::string, ElementToRoot> holistic_fusion::StaticTransformsUrdf::segments_

protected

A map of dynamic segment names to SegmentPair structures.

Definition at line 38 of file StaticTransformsUrdf.h.

tree_

KDL::Tree holistic_fusion::StaticTransformsUrdf::tree_

protected

Definition at line 35 of file StaticTransformsUrdf.h.

urdfDescriptionName_

std::string holistic_fusion::StaticTransformsUrdf::urdfDescriptionName_

protected

Description.

Definition at line 30 of file StaticTransformsUrdf.h.

urdfModel_

urdf::Model holistic_fusion::StaticTransformsUrdf::urdfModel_

protected

Definition at line 33 of file StaticTransformsUrdf.h.

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

• ros/holistic_fusion_ros/include/holistic_fusion_ros/extrinsics/StaticTransformsUrdf.h
• ros/holistic_fusion_ros/src/lib/StaticTransformsUrdf.cpp