ur_kin.h File Reference

#include <math.h>
#include <stdio.h>

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Namespaces
namespace	ur_kinematics
Defines
#define	a2   -0.612
#define	a3   -0.5723
#define	d1   0.1273
#define	d4   0.163941
#define	d5   0.1157
#define	d6   0.0922
#define	PI   M_PI
#define	SIGN(x)   ( ( (x) > 0 ) - ( (x) < 0 ) )
#define	UR10_PARAMS
#define	ZERO_THRESH   0.00000001
Functions
void	ur_kinematics::forward (const double *q, double *T)
int	ur_kinematics::inverse (const double *T, double *q_sols, double q6_des=0.0)

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Define Documentation

#define a2   -0.612

Definition at line 50 of file ur_kin.h.

#define a3   -0.5723

Definition at line 51 of file ur_kin.h.

#define d1   0.1273

Definition at line 49 of file ur_kin.h.

#define d4   0.163941

Definition at line 52 of file ur_kin.h.

#define d5   0.1157

Definition at line 53 of file ur_kin.h.

#define d6   0.0922

Definition at line 54 of file ur_kin.h.

#define PI   M_PI

Definition at line 45 of file ur_kin.h.

#define SIGN

(

x

)

( ( (x) > 0 ) - ( (x) < 0 ) )

Definition at line 44 of file ur_kin.h.

#define UR10_PARAMS

Definition at line 46 of file ur_kin.h.

#define ZERO_THRESH   0.00000001

Definition at line 43 of file ur_kin.h.