Public Types | Public Member Functions | Public Attributes
pr2_teleop::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

Detailed Description

template<int Joints>
struct pr2_teleop::Kin< Joints >

Definition at line 71 of file jt_task_controller.cpp.


Member Typedef Documentation

template<int Joints>
typedef Eigen::Matrix<double, 6, Joints> pr2_teleop::Kin< Joints >::Jacobian

Definition at line 74 of file jt_task_controller.cpp.

template<int Joints>
typedef Eigen::Matrix<double, Joints, 1> pr2_teleop::Kin< Joints >::JointVec

Definition at line 73 of file jt_task_controller.cpp.


Constructor & Destructor Documentation

template<int Joints>
pr2_teleop::Kin< Joints >::Kin ( const KDL::Chain kdl_chain) [inline]

Definition at line 76 of file jt_task_controller.cpp.

template<int Joints>
pr2_teleop::Kin< Joints >::~Kin ( ) [inline]

Definition at line 81 of file jt_task_controller.cpp.


Member Function Documentation

template<int Joints>
void pr2_teleop::Kin< Joints >::fk ( const JointVec q,
Eigen::Affine3d &  x 
) [inline]

Definition at line 85 of file jt_task_controller.cpp.

template<int Joints>
void pr2_teleop::Kin< Joints >::jac ( const JointVec q,
Jacobian J 
) [inline]

Definition at line 92 of file jt_task_controller.cpp.


Member Data Documentation

Definition at line 99 of file jt_task_controller.cpp.

template<int Joints>
KDL::ChainJntToJacSolver pr2_teleop::Kin< Joints >::jac_solver_

Definition at line 100 of file jt_task_controller.cpp.

template<int Joints>
KDL::Jacobian pr2_teleop::Kin< Joints >::kdl_J

Definition at line 102 of file jt_task_controller.cpp.

template<int Joints>
KDL::JntArray pr2_teleop::Kin< Joints >::kdl_q

Definition at line 101 of file jt_task_controller.cpp.


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


teleop_controllers
Author(s): Stuart Glaser
autogenerated on Sat Dec 28 2013 17:23:59