hrl_pr2_force_ctrl::Kin< Joints > Struct Template Reference

List of all members.

Public Types
typedef Eigen::Matrix< double, 6, Joints >	Jacobian
typedef Eigen::Matrix< double, Joints, 1 >	JointVec
Public Member Functions
void	fk (const JointVec &q, Eigen::Affine3d &x)
void	jac (const JointVec &q, Jacobian &J)
	Kin (const KDL::Chain &kdl_chain)
	~Kin ()
Public Attributes
KDL::ChainFkSolverPos_recursive	fk_solver_
KDL::ChainJntToJacSolver	jac_solver_
KDL::Jacobian	kdl_J
KDL::JntArray	kdl_q

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Detailed Description

template<int Joints>
struct hrl_pr2_force_ctrl::Kin< Joints >

Definition at line 79 of file hybrid_force_controller.cpp.

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Member Typedef Documentation

template<int Joints>

typedef Eigen::Matrix<double, 6, Joints> hrl_pr2_force_ctrl::Kin< Joints >::Jacobian

Definition at line 82 of file hybrid_force_controller.cpp.

template<int Joints>

typedef Eigen::Matrix<double, Joints, 1> hrl_pr2_force_ctrl::Kin< Joints >::JointVec

Definition at line 81 of file hybrid_force_controller.cpp.

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Constructor & Destructor Documentation

template<int Joints>

hrl_pr2_force_ctrl::Kin< Joints >::Kin

(

const KDL::Chain &

kdl_chain

)

[inline]

Definition at line 84 of file hybrid_force_controller.cpp.

template<int Joints>

hrl_pr2_force_ctrl::Kin< Joints >::~Kin

(

)

[inline]

Definition at line 89 of file hybrid_force_controller.cpp.

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Member Function Documentation

template<int Joints>

void hrl_pr2_force_ctrl::Kin< Joints >::fk	(	const JointVec &	q,
		Eigen::Affine3d &	x
	)		[inline]

Definition at line 93 of file hybrid_force_controller.cpp.

template<int Joints>

void hrl_pr2_force_ctrl::Kin< Joints >::jac	(	const JointVec &	q,
		Jacobian &	J
	)		[inline]

Definition at line 100 of file hybrid_force_controller.cpp.

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Member Data Documentation

template<int Joints>

KDL::ChainFkSolverPos_recursive hrl_pr2_force_ctrl::Kin< Joints >::fk_solver_

Definition at line 107 of file hybrid_force_controller.cpp.

template<int Joints>

KDL::ChainJntToJacSolver hrl_pr2_force_ctrl::Kin< Joints >::jac_solver_

Definition at line 108 of file hybrid_force_controller.cpp.

template<int Joints>

KDL::Jacobian hrl_pr2_force_ctrl::Kin< Joints >::kdl_J

Definition at line 110 of file hybrid_force_controller.cpp.

template<int Joints>

KDL::JntArray hrl_pr2_force_ctrl::Kin< Joints >::kdl_q

Definition at line 109 of file hybrid_force_controller.cpp.

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The documentation for this struct was generated from the following file:

• hybrid_force_controller.cpp