robot_env_evaluator::KinematicDataBridge Class Reference

The KinematicDataBridge class. More...

#include <state_source_bridge.hpp>

Public Member Functions
virtual	~KinematicDataBridge ()=default
	Destroy the Kinematic Data Bridge object.
virtual void	getForwardKinematics (const Eigen::VectorXd &q, Eigen::MatrixXd &result)
	Get the forward kinematics for the given joint configuration.
virtual void	getJacobian (const Eigen::VectorXd &q, Eigen::MatrixXd &result)
	Get the Jacobian for the given joint configuration.
virtual void	getMassMatrix (const Eigen::VectorXd &q, Eigen::MatrixXd &result)
	Get the mass matrix for the given joint configuration.
virtual void	getCoriolis (const Eigen::VectorXd &q, Eigen::MatrixXd &result)
	Get the Coriolis matrix for the given joint configuration.
virtual void	getGravity (const Eigen::VectorXd &q, Eigen::MatrixXd &result)
	Get the gravity vector for the given joint configuration.

Detailed Description

The KinematicDataBridge class.

This class provides a common interface for retrieving various kinematic data such as:

• Forward Kinematics
• Jacobian
• Mass Matrix
• Coriolis
• Gravity

All methods take the joint configuration as input and return the corresponding data as an Eigen::MatrixXd. By default, all methods throw a runtime exception, and derived classes are expected to implement the functionality.

Definition at line 47 of file state_source_bridge.hpp.

Member Function Documentation

getCoriolis()

void robot_env_evaluator::KinematicDataBridge::getCoriolis ( const Eigen::VectorXd &  q, Eigen::MatrixXd &  result  )

virtual

Get the Coriolis matrix for the given joint configuration.

Parameters

[in]	q	The joint configuration
[out]	result	The Coriolis matrix

Exceptions

std::runtime_error

If not implemented in derived class

Definition at line 39 of file state_source_bridge.cpp.

getForwardKinematics()

void robot_env_evaluator::KinematicDataBridge::getForwardKinematics ( const Eigen::VectorXd &  q, Eigen::MatrixXd &  result  )

virtual

Get the forward kinematics for the given joint configuration.

Parameters

[in]	q	The joint configuration
[out]	result	The forward kinematics result

Exceptions

std::runtime_error

If not implemented in derived class

Definition at line 27 of file state_source_bridge.cpp.

getGravity()

void robot_env_evaluator::KinematicDataBridge::getGravity ( const Eigen::VectorXd &  q, Eigen::MatrixXd &  result  )

virtual

Get the gravity vector for the given joint configuration.

Parameters

[in]	q	The joint configuration
[out]	result	The gravity vector

Exceptions

std::runtime_error

If not implemented in derived class

Definition at line 43 of file state_source_bridge.cpp.

getJacobian()

void robot_env_evaluator::KinematicDataBridge::getJacobian ( const Eigen::VectorXd &  q, Eigen::MatrixXd &  result  )

virtual

Get the Jacobian for the given joint configuration.

Parameters

[in]	q	The joint configuration
[out]	result	The Jacobian matrix

Exceptions

std::runtime_error

If not implemented in derived class

Definition at line 31 of file state_source_bridge.cpp.

getMassMatrix()

void robot_env_evaluator::KinematicDataBridge::getMassMatrix ( const Eigen::VectorXd &  q, Eigen::MatrixXd &  result  )

virtual

Get the mass matrix for the given joint configuration.

Parameters

[in]	q	The joint configuration
[out]	result	The mass matrix

Exceptions

std::runtime_error

If not implemented in derived class

Definition at line 35 of file state_source_bridge.cpp.

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

• include/robot_env_evaluator/state_source_bridge.hpp
• src/state_source_bridge.cpp