SMURFTrajectoryTracker.hpp File Reference

#include <telekyb_defines/telekyb_defines.hpp>
#include <tk_trajctrl/TrajectoryTracker.hpp>
#include <pluginlib/class_loader.h>
#include <tk_param_estimator/MassEstimator.hpp>
#include <tk_param_estimator/InertiaMatrixEstimator.hpp>
#include <ros/ros.h>
#include <telekyb_base/Options.hpp>
#include <telekyb_base/Time.hpp>
#include <boost/thread/mutex.hpp>

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Functions
	TELEKYB_ENUM_VALUES (SaturationType, const char *,(none)("No command saturation applied")(uniform)("Uniform command saturation")(qp)("Quadratic programming command saturation")) namespace TELEKYB_NAMESPACE

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Function Documentation

TELEKYB_ENUM_VALUES	(	SaturationType	,
		const char *	,
		(none)("No command saturation applied")(uniform)("Uniform command saturation")(qp)("Quadratic programming command saturation")
	)

Computes the hat map

Returns the 3D skew-symmetric matrix corresponding to the input 3D vector

Computes the vee map

Returns the 3D vector corresponding to the input 3D skew-symmetric matrix

Definition at line 35 of file SMURFTrajectoryTracker.hpp.