The KinematicSolution is created from - and maps into - a KinematicResponse. More...

#include <kinematic_tree.h>

Public Member Functions
void	Create (std::shared_ptr< KinematicResponse > solution)

	KinematicSolution ()

	KinematicSolution (int start, int length)

Public Attributes
Eigen::Map< ArrayHessian >	hessian {nullptr, 0}

Eigen::Map< ArrayJacobian >	jacobian {nullptr, 0}

int	length = -1

Eigen::Map< ArrayFrame >	Phi {nullptr, 0}

Eigen::Map< ArrayTwist >	Phi_dot {nullptr, 0}

int	start = -1

Eigen::Map< Eigen::VectorXd >	X {nullptr, 0}

Detailed Description

The KinematicSolution is created from - and maps into - a KinematicResponse.

Definition at line 127 of file kinematic_tree.h.

Constructor & Destructor Documentation

◆ KinematicSolution() [1/2]

exotica::KinematicSolution::KinematicSolution ( )

default

◆ KinematicSolution() [2/2]

exotica::KinematicSolution::KinematicSolution	(	int	start,
		int	length
	)

Definition at line 77 of file kinematic_tree.cpp.

Member Function Documentation

◆ Create()

void exotica::KinematicSolution::Create ( std::shared_ptr< KinematicResponse > solution )

Definition at line 81 of file kinematic_tree.cpp.

Member Data Documentation

◆ hessian

Eigen::Map<ArrayHessian> exotica::KinematicSolution::hessian {nullptr, 0}

Definition at line 139 of file kinematic_tree.h.

◆ jacobian

Eigen::Map<ArrayJacobian> exotica::KinematicSolution::jacobian {nullptr, 0}

Definition at line 138 of file kinematic_tree.h.

◆ length

int exotica::KinematicSolution::length = -1

Definition at line 134 of file kinematic_tree.h.

◆ Phi

Eigen::Map<ArrayFrame> exotica::KinematicSolution::Phi {nullptr, 0}

Definition at line 136 of file kinematic_tree.h.

◆ Phi_dot

Eigen::Map<ArrayTwist> exotica::KinematicSolution::Phi_dot {nullptr, 0}

Definition at line 137 of file kinematic_tree.h.

◆ start

int exotica::KinematicSolution::start = -1

Definition at line 133 of file kinematic_tree.h.

◆ X

Eigen::Map<Eigen::VectorXd> exotica::KinematicSolution::X {nullptr, 0}

Definition at line 135 of file kinematic_tree.h.

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

Public Member Functions

Public Attributes