ark::KdlTransformProvider

Defined in header “ark/geometry/kdl_transform_provider.hh”.

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Methods

• KdlTransformProvider(std::unique_ptr< KDL::Tree > tree, const std::string & prefix)

• ~KdlTransformProvider()

• const std::string & root_frame_id()

• std::vector< std::string > static_joint_names()

• std::vector< std::string > dynamic_joint_names()

• std::vector< TransformMessage3dStamped > static_transforms()

• std::vector< TransformMessage3dStamped > dynamic_transforms(std::chrono::steady_clock::time_point ts, const std::map< std::string, double > & positions)